bmi160.h

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/* user defined code to be added here ... */
#ifndef __BMI160_H__
#define __BMI160_H__

#ifdef  __KERNEL__

#include <linux/types.h>
/* singed integer type*/
typedef int8_t s8;
typedef int16_t s16;
typedef int32_t s32;
typedef int64_t s64;
typedef u_int8_t u8;
typedef u_int16_t u16;
typedef u_int32_t u32;
typedef u_int64_t u64;
#else /* ! __KERNEL__ */
/**********************************************************
* These definition uses for define the C
* standard version data types
***********************************************************/
# if defined(__STDC_VERSION__)

/************************************************
 * compiler is C11 C standard
************************************************/
#if (__STDC_VERSION__ == 201112L)

/************************************************/
#include <stdint.h>
/************************************************/

/*unsigned integer types*/
typedef uint8_t u8;
typedef uint16_t u16;
typedef uint32_t u32;
typedef uint64_t u64;
/*signed integer types*/
typedef int8_t s8;
typedef int16_t s16;
typedef int32_t s32;
typedef int64_t s64;
/************************************************
 * compiler is C99 C standard
************************************************/

#elif (__STDC_VERSION__ == 199901L)

/* stdint.h is a C99 supported c library.
which is used to fixed the integer size*/
/************************************************/
#include <stdint.h>
/************************************************/

/*unsigned integer types*/
typedef uint8_t u8;
typedef uint16_t u16;
typedef uint32_t u32;
typedef uint64_t u64;
/*signed integer types*/
typedef int8_t s8;
typedef int16_t s16;
typedef int32_t s32;
typedef int64_t s64;
/************************************************
 * compiler is C89 or other C standard
************************************************/

#else /*  !defined(__STDC_VERSION__) */

#define  MACHINE_32_BIT

#ifdef MACHINE_16_BIT
#include <limits.h>
/*signed integer types*/
typedef signed char  s8;
typedef signed short int s16;
typedef signed long int s32;
#if defined(LONG_MAX) && LONG_MAX == 0x7fffffffffffffffL
typedef long int s64;
typedef unsigned long int u64;
#elif defined(LLONG_MAX) && (LLONG_MAX == 0x7fffffffffffffffLL)
typedef long long int s64;
typedef unsigned long long int u64;
#else
#warning Either the correct data type for signed 64 bit integer \
could not be found, or 64 bit integers are not supported in your environment.
#warning If 64 bit integers are supported on your platform, \
please set s64 manually.
#endif

/*unsigned integer types*/
typedef unsigned char u8;
typedef unsigned short int u16;
typedef unsigned long int u32;
/* If your machine support 32 bit
define the MACHINE_32_BIT*/
#elif defined MACHINE_32_BIT
/*signed integer types*/
typedef signed char  s8;
typedef signed short int s16;
typedef signed int s32;
typedef signed long long int s64;
/*unsigned integer types*/
typedef unsigned char u8;
typedef unsigned short int u16;
typedef unsigned int u32;
typedef unsigned long long int u64;
/* If your machine support 64 bit
define the MACHINE_64_BIT*/
#elif defined MACHINE_64_BIT
/*signed integer types*/
typedef signed char  s8;
typedef signed short int s16;
typedef signed int s32;
typedef signed long int s64;
/*unsigned integer types*/
typedef unsigned char u8;
typedef unsigned short int u16;
typedef unsigned int u32;
typedef unsigned long int u64;
#else
#warning The data types defined above which not supported \
define the data types manually
#endif
#endif

/*** This else will execute for the compilers
 *      which are not supported the C standards
 *      Like C89/C99/C11***/
#else

#define  MACHINE_32_BIT

/* If your machine support 16 bit
define the MACHINE_16_BIT*/
#ifdef MACHINE_16_BIT
#include <limits.h>
/*signed integer types*/
typedef signed char  s8;
typedef signed short int s16;
typedef signed long int s32;
#if defined(LONG_MAX) && LONG_MAX == 0x7fffffffffffffffL
typedef long int s64;
typedef unsigned long int u64;
#elif defined(LLONG_MAX) && (LLONG_MAX == 0x7fffffffffffffffLL)
typedef long long int s64;
typedef unsigned long long int u64;
#else
#warning Either the correct data type for signed 64 bit integer \
could not be found, or 64 bit integers are not supported in your environment.
#warning If 64 bit integers are supported on your platform, \
please set s64 manually.
#endif

/*unsigned integer types*/
typedef unsigned char u8;
typedef unsigned short int u16;
typedef unsigned long int u32;
#elif defined MACHINE_32_BIT
/*signed integer types*/
typedef signed char  s8;
typedef signed short int s16;
typedef signed int s32;
typedef signed long long int s64;
/*unsigned integer types*/
typedef unsigned char u8;
typedef unsigned short int u16;
typedef unsigned int u32;
typedef unsigned long long int u64;
/* If your machine support 64 bit
define the MACHINE_64_BIT*/
#elif defined MACHINE_64_BIT
/*signed integer types*/
typedef signed char  s8;
typedef signed short int s16;
typedef signed int s32;
typedef signed long int s64;
/*unsigned integer types*/
typedef unsigned char u8;
typedef unsigned short int u16;
typedef unsigned int u32;
typedef unsigned long int u64;
#else
#warning The data types defined above which not supported \
define the data types manually
#endif
#endif
#endif
/***************************************************************/
/***************************************************************/
#define BMI160_WR_FUNC_PTR s8 (*bus_write)(u8, u8,\
u8 *, u8)

#define BMI160_BUS_WRITE_FUNC(dev_addr, reg_addr, reg_data, wr_len)\
                                bus_write(dev_addr, reg_addr, reg_data, wr_len)

#define BMI160_SPI_RD_MASK (0x80)   /* for spi read transactions on SPI the
                        MSB has to be set */
#define BMI160_RD_FUNC_PTR s8 (*bus_read)(u8,\
                        u8, u8 *, u8)

#define BMI160_BRD_FUNC_PTR s8 \
(*burst_read)(u8, u8, u8 *, u32)

#define BMI160_BUS_READ_FUNC(dev_addr, reg_addr, reg_data, r_len)\
                                bus_read(dev_addr, reg_addr, reg_data, r_len)

#define BMI160_BURST_READ_FUNC(device_addr, \
register_addr, register_data, rd_len)\
burst_read(device_addr, register_addr, register_data, rd_len)

/* enable the macro for FIFO functionalities when FIFO is used*/
#define FIFO_ENABLE
/* enable the macro of the secondary interface which is used */
/* used to select the secondary interface as YAS537 */
#define YAS537
/*#define YAS532*/  /* used to select the secondary interface as YAS532 */
/*#define AKM09911*/ /* used to select the secondary interface as AKM09911 */
/*#define AKM09912 */ /* used to select the secondary interface as AKM09912 */

#define BMI160_MDELAY_DATA_TYPE                 u32

/***************************************************************/
/***************************************************************/
#define BMI160_I2C_ADDR1                   (0x68)

#define BMI160_I2C_ADDR2                    (0x69)

#define BMI160_AUX_BMM150_I2C_ADDRESS       (0x13)

#define BMI160_AUX_YAS532_I2C_ADDRESS       (0x2E)

#define BMI160_AUX_AKM09911_I2C_ADDR_1          (0x0C)

#define BMI160_AUX_AKM09911_I2C_ADDR_2          (0x0D)

#define BMI160_AUX_AKM09912_I2C_ADDR_1          (0x0C)

#define BMI160_AUX_AKM09912_I2C_ADDR_2          (0x0D)

#define BMI160_AUX_AKM09912_I2C_ADDR_3          (0x0E)

#define BMI160_AUX_AKM09912_I2C_ADDR_4          (0x0F)

/*******************************************/
/******************************************/
#define  BMI160_INIT_VALUE                                      (0)
#define  BMI160_ASSIGN_DATA                 (1)
#define  BMI160_GEN_READ_WRITE_DATA_LENGTH      (1)
#define  BMI160_MAXIMUM_TIMEOUT             (10)

/* output data rate condition check*/
#define  BMI160_OUTPUT_DATA_RATE0       (0)
#define  BMI160_OUTPUT_DATA_RATE1       (1)
#define  BMI160_OUTPUT_DATA_RATE2       (2)
#define  BMI160_OUTPUT_DATA_RATE3       (3)
#define  BMI160_OUTPUT_DATA_RATE4       (4)
#define  BMI160_OUTPUT_DATA_RATE5       (5)
#define  BMI160_OUTPUT_DATA_RATE6       (14)
#define  BMI160_OUTPUT_DATA_RATE7       (15)

/*unmap significant motion*/
#define V_ANY_MOTION_INTR_STAT   (4)
#define V_ANY_MOTION_AXIS_STAT   (7)

/* accel range check*/
#define BMI160_ACCEL_RANGE0  (3)
#define BMI160_ACCEL_RANGE1  (5)
#define BMI160_ACCEL_RANGE3  (8)
#define BMI160_ACCEL_RANGE4  (12)

/* check the status of registers*/
#define  BMI160_FOC_STAT_HIGH                   (1)
#define  BMI160_SIG_MOTION_STAT_HIGH    (1)
#define  BMI160_STEP_DET_STAT_HIGH              (1)

/*condition check for reading and writing data*/
#define BMI160_MAX_VALUE_SIGNIFICANT_MOTION      (1)
#define BMI160_MAX_VALUE_FIFO_FILTER    (1)
#define BMI160_MAX_VALUE_FIFO_TIME      (1)
#define BMI160_MAX_VALUE_FIFO_INTR      (1)
#define BMI160_MAX_VALUE_FIFO_HEADER    (1)
#define BMI160_MAX_VALUE_FIFO_MAG       (1)
#define BMI160_MAX_VALUE_FIFO_ACCEL     (1)
#define BMI160_MAX_VALUE_FIFO_GYRO      (1)
#define BMI160_MAX_VALUE_SOURCE_INTR    (1)
#define BMI160_MAX_VALUE_LOW_G_MODE     (1)
#define BMI160_MAX_VALUE_NO_MOTION      (1)
#define BMI160_MAX_VALUE_TAP_SHOCK      (1)
#define BMI160_MAX_VALUE_TAP_QUIET      (1)
#define BMI160_MAX_VALUE_ORIENT_UD      (1)
#define BMI160_MAX_VALUE_ORIENT_AXES    (1)
#define BMI160_MAX_VALUE_NVM_PROG       (1)
#define BMI160_MAX_VALUE_SPI3           (1)
#define BMI160_MAX_VALUE_PAGE           (1)
#define BMI160_MAX_VALUE_I2C_WDT        (1)
#define BMI160_MAX_VALUE_SLEEP_STATE    (1)
#define BMI160_MAX_VALUE_WAKEUP_INTR    (1)
#define BMI160_MAX_VALUE_SELFTEST_SIGN  (1)
#define BMI160_MAX_VALUE_SELFTEST_AMP   (1)
#define BMI160_MAX_VALUE_SELFTEST_START (1)

#define BMI160_MAX_GYRO_WAKEUP_TRIGGER          (3)
#define BMI160_MAX_ACCEL_SELFTEST_AXIS      (3)
#define BMI160_MAX_GYRO_STEP_COUNTER        (1)
#define BMI160_MAX_GYRO_BW                  (3)
#define BMI160_MAX_ACCEL_BW                 (7)
#define BMI160_MAX_ORIENT_MODE              (3)
#define BMI160_MAX_ORIENT_BLOCKING          (3)
#define BMI160_MAX_FLAT_HOLD                (3)
#define BMI160_MAX_ACCEL_FOC                (3)
#define BMI160_MAX_IF_MODE                  (3)
#define BMI160_MAX_TARGET_PAGE              (3)
#define BMI160_MAX_GYRO_RANGE               (4)
#define BMI160_MAX_GYRO_SLEEP_TIGGER        (7)
#define BMI160_MAX_TAP_TURN                 (7)
#define BMI160_MAX_UNDER_SAMPLING           (1)
#define BMI160_MAX_UNDER_SIG_MOTION         (3)
#define BMI160_MAX_ACCEL_OUTPUT_DATA_RATE   (12)
#define BMI160_MAX_LATCH_INTR               (15)
#define BMI160_MAX_FLAT_HYST                (15)
#define BMI160_MAX_ORIENT_THETA             (63)
#define BMI160_MAX_FLAT_THETA               (63)

#ifdef FIFO_ENABLE
/* FIFO index definitions*/
#define BMI160_FIFO_X_LSB_DATA                  (0)
#define BMI160_FIFO_X_MSB_DATA                  (1)
#define BMI160_FIFO_Y_LSB_DATA                  (2)
#define BMI160_FIFO_Y_MSB_DATA                  (3)
#define BMI160_FIFO_Z_LSB_DATA                  (4)
#define BMI160_FIFO_Z_MSB_DATA                  (5)
#define BMI160_FIFO_R_LSB_DATA                  (6)
#define BMI160_FIFO_R_MSB_DATA                  (7)
/* FIFO gyro definition*/
#define BMI160_GA_FIFO_G_X_LSB          (0)
#define BMI160_GA_FIFO_G_X_MSB          (1)
#define BMI160_GA_FIFO_G_Y_LSB          (2)
#define BMI160_GA_FIFO_G_Y_MSB          (3)
#define BMI160_GA_FIFO_G_Z_LSB          (4)
#define BMI160_GA_FIFO_G_Z_MSB          (5)
#define BMI160_GA_FIFO_A_X_LSB          (6)
#define BMI160_GA_FIFO_A_X_MSB          (7)
#define BMI160_GA_FIFO_A_Y_LSB          (8)
#define BMI160_GA_FIFO_A_Y_MSB          (9)
#define BMI160_GA_FIFO_A_Z_LSB          (10)
#define BMI160_GA_FIFO_A_Z_MSB          (11)
/* FIFO mag/gyro/accel definition*/
#define BMI160_MGA_FIFO_M_X_LSB         (0)
#define BMI160_MGA_FIFO_M_X_MSB         (1)
#define BMI160_MGA_FIFO_M_Y_LSB         (2)
#define BMI160_MGA_FIFO_M_Y_MSB         (3)
#define BMI160_MGA_FIFO_M_Z_LSB         (4)
#define BMI160_MGA_FIFO_M_Z_MSB         (5)
#define BMI160_MGA_FIFO_M_R_LSB         (6)
#define BMI160_MGA_FIFO_M_R_MSB         (7)
#define BMI160_MGA_FIFO_G_X_LSB         (8)
#define BMI160_MGA_FIFO_G_X_MSB         (9)
#define BMI160_MGA_FIFO_G_Y_LSB         (10)
#define BMI160_MGA_FIFO_G_Y_MSB         (11)
#define BMI160_MGA_FIFO_G_Z_LSB         (12)
#define BMI160_MGA_FIFO_G_Z_MSB         (13)
#define BMI160_MGA_FIFO_A_X_LSB         (14)
#define BMI160_MGA_FIFO_A_X_MSB         (15)
#define BMI160_MGA_FIFO_A_Y_LSB         (16)
#define BMI160_MGA_FIFO_A_Y_MSB         (17)
#define BMI160_MGA_FIFO_A_Z_LSB         (18)
#define BMI160_MGA_FIFO_A_Z_MSB         (19)
/* FIFO mag definition*/
#define BMI160_MA_FIFO_M_X_LSB          (0)
#define BMI160_MA_FIFO_M_X_MSB          (1)
#define BMI160_MA_FIFO_M_Y_LSB          (2)
#define BMI160_MA_FIFO_M_Y_MSB          (3)
#define BMI160_MA_FIFO_M_Z_LSB          (4)
#define BMI160_MA_FIFO_M_Z_MSB          (5)
#define BMI160_MA_FIFO_M_R_LSB          (6)
#define BMI160_MA_FIFO_M_R_MSB          (7)
#define BMI160_MA_FIFO_A_X_LSB          (8)
#define BMI160_MA_FIFO_A_X_MSB          (9)
#define BMI160_MA_FIFO_A_Y_LSB          (10)
#define BMI160_MA_FIFO_A_Y_MSB          (11)
#define BMI160_MA_FIFO_A_Z_LSB          (12)
#define BMI160_MA_FIFO_A_Z_MSB          (13)
/* FIFO mag/gyro definition*/
#define BMI160_MG_FIFO_M_X_LSB          (0)
#define BMI160_MG_FIFO_M_X_MSB          (1)
#define BMI160_MG_FIFO_M_Y_LSB          (2)
#define BMI160_MG_FIFO_M_Y_MSB          (3)
#define BMI160_MG_FIFO_M_Z_LSB          (4)
#define BMI160_MG_FIFO_M_Z_MSB          (5)
#define BMI160_MG_FIFO_M_R_LSB          (6)
#define BMI160_MG_FIFO_M_R_MSB          (7)
#define BMI160_MG_FIFO_G_X_LSB          (8)
#define BMI160_MG_FIFO_G_X_MSB          (9)
#define BMI160_MG_FIFO_G_Y_LSB          (10)
#define BMI160_MG_FIFO_G_Y_MSB          (11)
#define BMI160_MG_FIFO_G_Z_LSB          (12)
#define BMI160_MG_FIFO_G_Z_MSB          (13)
/* FIFO length definitions*/
#define BMI160_FIFO_SENSOR_TIME_LSB     (0)
#define BMI160_FIFO_SENSOR_TIME_XLSB    (1)
#define BMI160_FIFO_SENSOR_TIME_MSB     (2)
#define BMI160_FIFO_SENSOR_TIME_LENGTH  (3)
#define BMI160_FIFO_A_LENGTH            (6)
#define BMI160_FIFO_G_LENGTH            (6)
#define BMI160_FIFO_M_LENGTH            (8)
#define BMI160_FIFO_AG_LENGTH           (12)
#define BMI160_FIFO_AMG_LENGTH          (20)
#define BMI160_FIFO_MA_OR_MG_LENGTH     (14)
#define BMI160_FIFO_LENGTH_LSB_BYTE    (0)
#define BMI160_FIFO_LENGTH_MSB_BYTE    (1)

#endif

/* bus read and write length for mag, accel and gyro*/
#define BMI160_MAG_X_DATA_LENGTH     (2)
#define BMI160_MAG_Y_DATA_LENGTH     (2)
#define BMI160_MAG_Z_DATA_LENGTH     (2)
#define BMI160_MAG_R_DATA_LENGTH     (2)
#define BMI160_MAG_XYZ_DATA_LENGTH       (6)
#define BMI160_MAG_XYZR_DATA_LENGTH      (8)
#define BMI160_MAG_YAS_DATA_LENGTH       (8)
#define BMI160_GYRO_DATA_LENGTH          (2)
#define BMI160_GYRO_XYZ_DATA_LENGTH      (6)
#define BMI160_ACCEL_DATA_LENGTH         (2)
#define BMI160_ACCEL_XYZ_DATA_LENGTH (6)
#define BMI160_TEMP_DATA_LENGTH          (2)
#define BMI160_FIFO_DATA_LENGTH          (2)
#define BMI160_STEP_COUNTER_LENGTH       (2)
#define BMI160_SENSOR_TIME_LENGTH        (3)

/* Delay definitions*/
#define BMI160_SEC_INTERFACE_GEN_READ_WRITE_DELAY    (5)
#define BMI160_BMM150_WAKEUP_DELAY1                  (2)
#define BMI160_BMM150_WAKEUP_DELAY2                  (3)
#define BMI160_BMM150_WAKEUP_DELAY3                  (1)
#define BMI160_YAS532_OFFSET_DELAY                   (2)
#define BMI160_GEN_READ_WRITE_DELAY                  (1)
#define BMI160_YAS532_MEASUREMENT_DELAY              (25)
#define BMI160_YAS_ACQ_COMMAND_DELAY                 (50)
#define BMI160_YAS532_SET_INITIAL_VALUE_DELAY        (200)
#define BMI160_AKM_INIT_DELAY                        (60)
/****************************************************/
/***************************************************/
#define BMI160_ACCEL_X_DATA_SIZE   (2)
#define BMI160_ACCEL_Y_DATA_SIZE   (2)
#define BMI160_ACCEL_Z_DATA_SIZE   (2)
#define BMI160_ACCEL_XYZ_DATA_SIZE (6)

#define BMI160_GYRO_X_DATA_SIZE    (2)
#define BMI160_GYRO_Y_DATA_SIZE    (2)
#define BMI160_GYRO_Z_DATA_SIZE    (2)
#define BMI160_GYRO_XYZ_DATA_SIZE  (6)

#define BMI160_MAG_X_DATA_SIZE      (2)
#define BMI160_MAG_Y_DATA_SIZE      (2)
#define BMI160_MAG_Z_DATA_SIZE      (2)
#define BMI160_MAG_R_DATA_SIZE      (2)
#define BMI160_MAG_XYZ_DATA_SIZE    (6)
#define BMI160_MAG_XYZR_DATA_SIZE   (8)
#define BMI160_MAG_TRIM_DATA_SIZE   (16)


#define BMI160_TEMP_DATA_SIZE       (2)
#define BMI160_FIFO_DATA_SIZE       (2)
#define BMI160_STEP_COUNT_DATA_SIZE (2)

#define BMI160_SENSOR_TIME_DATA_SIZE      (3)
#define BMI160_AKM_SENSITIVITY_DATA_SIZE  (3)
#define BMI160_HARD_OFFSET_DATA_SIZE      (3)
#define BMI160_YAS_XY1Y2_DATA_SIZE        (3)
#define BMI160_YAS_FLAG_DATA_SIZE         (3)
#define BMI160_YAS_TEMP_DATA_SIZE         (3)
#define BMI160_YAS_H_DATA_SIZE            (3)
#define BMI160_YAS_S_DATA_SIZE            (3)
#define BMI160_YAS_CORRECT_DATA_SIZE      (5)
#define BMI160_YAS_XY1Y2T_DATA_SIZE       (8)
#define BMI160_YAS537_CALIB_DATA_SIZE     (17)
#define BMI160_YAS532_CALIB_DATA_SIZE     (14)
#define BMI160_GYRO_ACCEL_SENSORTIME_DATA_SIZE          (15)
#define BMI160_ACCEL_SENSORTIME_DATA_SIZE                       (9)


#define BMI160_GYRO_ACCEL_SENSORTIME_DATA (1)
#define BMI160_ACCEL_SENSORTIME_DATA (0)



/****************************************************/
/***************************************************/
#define BMI160_SENSOR_TIME_MSB_BYTE   (2)
#define BMI160_SENSOR_TIME_XLSB_BYTE  (1)
#define BMI160_SENSOR_TIME_LSB_BYTE   (0)

#define BMI160_MAG_X_LSB_BYTE             (0)
#define BMI160_MAG_X_MSB_BYTE              (1)
#define BMI160_MAG_Y_LSB_BYTE              (0)
#define BMI160_MAG_Y_MSB_BYTE              (1)
#define BMI160_MAG_Z_LSB_BYTE              (0)
#define BMI160_MAG_Z_MSB_BYTE              (1)
#define BMI160_MAG_R_LSB_BYTE              (0)
#define BMI160_MAG_R_MSB_BYTE              (1)
#define BMI160_DATA_FRAME_MAG_X_LSB_BYTE   (0)
#define BMI160_DATA_FRAME_MAG_X_MSB_BYTE   (1)
#define BMI160_DATA_FRAME_MAG_Y_LSB_BYTE   (2)
#define BMI160_DATA_FRAME_MAG_Y_MSB_BYTE   (3)
#define BMI160_DATA_FRAME_MAG_Z_LSB_BYTE   (4)
#define BMI160_DATA_FRAME_MAG_Z_MSB_BYTE   (5)
#define BMI160_DATA_FRAME_MAG_R_LSB_BYTE   (6)
#define BMI160_DATA_FRAME_MAG_R_MSB_BYTE   (7)

#define BMI160_GYRO_X_LSB_BYTE              (0)
#define BMI160_GYRO_X_MSB_BYTE              (1)
#define BMI160_GYRO_Y_LSB_BYTE              (0)
#define BMI160_GYRO_Y_MSB_BYTE              (1)
#define BMI160_GYRO_Z_LSB_BYTE              (0)
#define BMI160_GYRO_Z_MSB_BYTE              (1)
#define BMI160_DATA_FRAME_GYRO_X_LSB_BYTE   (0)
#define BMI160_DATA_FRAME_GYRO_X_MSB_BYTE   (1)
#define BMI160_DATA_FRAME_GYRO_Y_LSB_BYTE   (2)
#define BMI160_DATA_FRAME_GYRO_Y_MSB_BYTE   (3)
#define BMI160_DATA_FRAME_GYRO_Z_LSB_BYTE   (4)
#define BMI160_DATA_FRAME_GYRO_Z_MSB_BYTE   (5)

#define BMI160_ACCEL_X_LSB_BYTE              (0)
#define BMI160_ACCEL_X_MSB_BYTE              (1)
#define BMI160_ACCEL_Y_LSB_BYTE              (0)
#define BMI160_ACCEL_Y_MSB_BYTE              (1)
#define BMI160_ACCEL_Z_LSB_BYTE              (0)
#define BMI160_ACCEL_Z_MSB_BYTE              (1)
#define BMI160_DATA_FRAME_ACCEL_X_LSB_BYTE   (0)
#define BMI160_DATA_FRAME_ACCEL_X_MSB_BYTE   (1)
#define BMI160_DATA_FRAME_ACCEL_Y_LSB_BYTE   (2)
#define BMI160_DATA_FRAME_ACCEL_Y_MSB_BYTE   (3)
#define BMI160_DATA_FRAME_ACCEL_Z_LSB_BYTE   (4)
#define BMI160_DATA_FRAME_ACCEL_Z_MSB_BYTE   (5)

#define BMI160_TEMP_LSB_BYTE    (0)
#define BMI160_TEMP_MSB_BYTE    (1)
#define BMI160_STEP_COUNT_LSB_BYTE    (0)
#define BMI160_STEP_COUNT_MSB_BYTE    (1)
/****************************************************/
/***************************************************/

#define E_BMI160_NULL_PTR                       ((s8)-127)
#define E_BMI160_COMM_RES                       ((s8)-1)
#define E_BMI160_OUT_OF_RANGE           ((s8)-2)
#define E_BMI160_BUSY                           ((s8)-3)
#define SUCCESS                                         ((u8)0)
#define ERROR                                           ((s8)-1)

/* Constants */
#define BMI160_NULL                                             (0)
#define BMI160_DELAY_SETTLING_TIME              (5)
/*This refers BMI160 return type as s8 */
#define BMI160_RETURN_FUNCTION_TYPE             s8
/****************************************************/
/***************************************************/
/*******************/
/*******************/
#define BMI160_USER_CHIP_ID_ADDR                                (0x00)
/*******************/
/*******************/
#define BMI160_USER_ERROR_ADDR                                  (0X02)
/*******************/
/*******************/
#define BMI160_USER_PMU_STAT_ADDR                               (0X03)
/*******************/
/*******************/
#define BMI160_USER_DATA_0_ADDR                                 (0X04)
#define BMI160_USER_DATA_1_ADDR                                 (0X05)
#define BMI160_USER_DATA_2_ADDR                                 (0X06)
#define BMI160_USER_DATA_3_ADDR                                 (0X07)
#define BMI160_USER_DATA_4_ADDR                                 (0X08)
#define BMI160_USER_DATA_5_ADDR                                 (0X09)
#define BMI160_USER_DATA_6_ADDR                                 (0X0A)
#define BMI160_USER_DATA_7_ADDR                                 (0X0B)
/*******************/
/*******************/
#define BMI160_USER_DATA_8_ADDR                                 (0X0C)
#define BMI160_USER_DATA_9_ADDR                                 (0X0D)
#define BMI160_USER_DATA_10_ADDR                                (0X0E)
#define BMI160_USER_DATA_11_ADDR                                (0X0F)
#define BMI160_USER_DATA_12_ADDR                                (0X10)
#define BMI160_USER_DATA_13_ADDR                                (0X11)
/*******************/
/*******************/
#define BMI160_USER_DATA_14_ADDR                                (0X12)
#define BMI160_USER_DATA_15_ADDR                                (0X13)
#define BMI160_USER_DATA_16_ADDR                                (0X14)
#define BMI160_USER_DATA_17_ADDR                                (0X15)
#define BMI160_USER_DATA_18_ADDR                                (0X16)
#define BMI160_USER_DATA_19_ADDR                                (0X17)
/*******************/
/*******************/
#define BMI160_USER_SENSORTIME_0_ADDR                   (0X18)
#define BMI160_USER_SENSORTIME_1_ADDR                   (0X19)
#define BMI160_USER_SENSORTIME_2_ADDR                   (0X1A)
/*******************/
/*******************/
#define BMI160_USER_STAT_ADDR                                   (0X1B)
/*******************/
/*******************/
#define BMI160_USER_INTR_STAT_0_ADDR                    (0X1C)
#define BMI160_USER_INTR_STAT_1_ADDR                    (0X1D)
#define BMI160_USER_INTR_STAT_2_ADDR                    (0X1E)
#define BMI160_USER_INTR_STAT_3_ADDR                    (0X1F)
/*******************/
/*******************/
#define BMI160_USER_TEMPERATURE_0_ADDR                  (0X20)
#define BMI160_USER_TEMPERATURE_1_ADDR                  (0X21)
/*******************/
/*******************/
#define BMI160_USER_FIFO_LENGTH_0_ADDR                  (0X22)
#define BMI160_USER_FIFO_LENGTH_1_ADDR                  (0X23)
#define BMI160_USER_FIFO_DATA_ADDR                              (0X24)
/***************************************************/
/******************************************************/
#define BMI160_USER_ACCEL_CONFIG_ADDR                   (0X40)
/*******************/
/*******************/
#define BMI160_USER_ACCEL_RANGE_ADDR            (0X41)
/***************************************************/
/******************************************************/
#define BMI160_USER_GYRO_CONFIG_ADDR            (0X42)
/*******************/
/*******************/
#define BMI160_USER_GYRO_RANGE_ADDR             (0X43)
/***************************************************/
/******************************************************/
#define BMI160_USER_MAG_CONFIG_ADDR                             (0X44)
#ifdef FIFO_ENABLE
/***************************************************/
/******************************************************/
#define BMI160_USER_FIFO_DOWN_ADDR              (0X45)
/***************************************************/
/******************************************************/
#define BMI160_USER_FIFO_CONFIG_0_ADDR          (0X46)
#define BMI160_USER_FIFO_CONFIG_1_ADDR          (0X47)
#endif

/***************************************************/
/******************************************************/
#define BMI160_USER_MAG_IF_0_ADDR                               (0X4B)
#define BMI160_USER_MAG_IF_1_ADDR                               (0X4C)
#define BMI160_USER_MAG_IF_2_ADDR                               (0X4D)
#define BMI160_USER_MAG_IF_3_ADDR                               (0X4E)
#define BMI160_USER_MAG_IF_4_ADDR                               (0X4F)
/***************************************************/
/******************************************************/
#define BMI160_USER_INTR_ENABLE_0_ADDR                  (0X50)
#define BMI160_USER_INTR_ENABLE_1_ADDR                  (0X51)
#define BMI160_USER_INTR_ENABLE_2_ADDR                  (0X52)
#define BMI160_USER_INTR_OUT_CTRL_ADDR                  (0X53)
/***************************************************/
/******************************************************/
#define BMI160_USER_INTR_LATCH_ADDR                             (0X54)
/***************************************************/
/******************************************************/
#define BMI160_USER_INTR_MAP_0_ADDR                             (0X55)
#define BMI160_USER_INTR_MAP_1_ADDR                             (0X56)
#define BMI160_USER_INTR_MAP_2_ADDR                             (0X57)
/***************************************************/
/******************************************************/
#define BMI160_USER_INTR_DATA_0_ADDR                    (0X58)
#define BMI160_USER_INTR_DATA_1_ADDR                    (0X59)
/***************************************************/
/******************************************************/
#define BMI160_USER_INTR_LOWHIGH_0_ADDR                 (0X5A)
#define BMI160_USER_INTR_LOWHIGH_1_ADDR                 (0X5B)
#define BMI160_USER_INTR_LOWHIGH_2_ADDR                 (0X5C)
#define BMI160_USER_INTR_LOWHIGH_3_ADDR                 (0X5D)
#define BMI160_USER_INTR_LOWHIGH_4_ADDR                 (0X5E)
#define BMI160_USER_INTR_MOTION_0_ADDR                  (0X5F)
#define BMI160_USER_INTR_MOTION_1_ADDR                  (0X60)
#define BMI160_USER_INTR_MOTION_2_ADDR                  (0X61)
#define BMI160_USER_INTR_MOTION_3_ADDR                  (0X62)
#define BMI160_USER_INTR_TAP_0_ADDR                             (0X63)
#define BMI160_USER_INTR_TAP_1_ADDR                             (0X64)
#define BMI160_USER_INTR_ORIENT_0_ADDR                  (0X65)
#define BMI160_USER_INTR_ORIENT_1_ADDR                  (0X66)
#define BMI160_USER_INTR_FLAT_0_ADDR                    (0X67)
#define BMI160_USER_INTR_FLAT_1_ADDR                    (0X68)
/***************************************************/
/******************************************************/
#define BMI160_USER_FOC_CONFIG_ADDR                             (0X69)
/***************************************************/
/******************************************************/
#define BMI160_USER_CONFIG_ADDR                                 (0X6A)
/***************************************************/
/******************************************************/
#define BMI160_USER_IF_CONFIG_ADDR                              (0X6B)
/***************************************************/
/******************************************************/
#define BMI160_USER_PMU_TRIGGER_ADDR                    (0X6C)
/***************************************************/
/******************************************************/
#define BMI160_USER_SELF_TEST_ADDR                              (0X6D)
/***************************************************/
/******************************************************/
#define BMI160_USER_NV_CONFIG_ADDR                              (0x70)
/***************************************************/
/******************************************************/
#define BMI160_USER_OFFSET_0_ADDR                               (0X71)
#define BMI160_USER_OFFSET_1_ADDR                               (0X72)
#define BMI160_USER_OFFSET_2_ADDR                               (0X73)
#define BMI160_USER_OFFSET_3_ADDR                               (0X74)
#define BMI160_USER_OFFSET_4_ADDR                               (0X75)
#define BMI160_USER_OFFSET_5_ADDR                               (0X76)
#define BMI160_USER_OFFSET_6_ADDR                               (0X77)
/***************************************************/
/******************************************************/
#define BMI160_USER_STEP_COUNT_0_ADDR                   (0X78)
#define BMI160_USER_STEP_COUNT_1_ADDR                   (0X79)
/***************************************************/
/******************************************************/
#define BMI160_USER_STEP_CONFIG_0_ADDR                  (0X7A)
#define BMI160_USER_STEP_CONFIG_1_ADDR                  (0X7B)
/***************************************************/
/******************************************************/
#define BMI160_CMD_COMMANDS_ADDR                                (0X7E)
/***************************************************/
/******************************************************/
#define BMI160_CMD_EXT_MODE_ADDR                                (0X7F)
#define BMI160_COM_C_TRIM_FIVE_ADDR                             (0X05)

/****************************************************/
/***************************************************/
#define BMI160_SHIFT_BIT_POSITION_BY_01_BIT      (1)
#define BMI160_SHIFT_BIT_POSITION_BY_02_BITS     (2)
#define BMI160_SHIFT_BIT_POSITION_BY_03_BITS     (3)
#define BMI160_SHIFT_BIT_POSITION_BY_04_BITS     (4)
#define BMI160_SHIFT_BIT_POSITION_BY_05_BITS     (5)
#define BMI160_SHIFT_BIT_POSITION_BY_06_BITS     (6)
#define BMI160_SHIFT_BIT_POSITION_BY_07_BITS     (7)
#define BMI160_SHIFT_BIT_POSITION_BY_08_BITS     (8)
#define BMI160_SHIFT_BIT_POSITION_BY_09_BITS     (9)
#define BMI160_SHIFT_BIT_POSITION_BY_12_BITS     (12)
#define BMI160_SHIFT_BIT_POSITION_BY_13_BITS     (13)
#define BMI160_SHIFT_BIT_POSITION_BY_14_BITS     (14)
#define BMI160_SHIFT_BIT_POSITION_BY_15_BITS     (15)
#define BMI160_SHIFT_BIT_POSITION_BY_16_BITS     (16)

/****************************************************/
/***************************************************/
#define YAS532_MAG_STATE_NORMAL                         (0)
#define YAS532_MAG_STATE_INIT_COIL                      (1)
#define YAS532_MAG_STATE_MEASURE_OFFSET         (2)
#define YAS532_MAG_INITCOIL_TIMEOUT                     (1000)
#define YAS532_MAG_NOTRANS_POSITION                     (3)
#define YAS532_DEFAULT_SENSOR_DELAY                     (50)
#define YAS532_DATA_OVERFLOW                            (8190)
#define YAS532_DATA_UNDERFLOW                           (0)
#define YAS532_MAG_TEMPERATURE_LOG                      (10)
#define YAS532_TEMP20DEGREE_TYPICAL                     (390)
#define YAS532_VERSION_AC_COEF_X                        (850)
#define YAS532_VERSION_AC_COEF_Y1                       (750)
#define YAS532_VERSION_AC_COEF_Y2                       (750)
#define YAS532_DATA_CENTER                                      (4096)
/****************************************************/
/***************************************************/
static const s8 INVALID_OFFSET[] = {0x7f, 0x7f, 0x7f};
#define set_vector(to, from) \
        {int _l; for (_l = 0; _l < 3; _l++) (to)[_l] = (from)[_l]; }
#define is_valid_offset(a) \
        (((a)[0] <= 31) && ((a)[1] <= 31) && ((a)[2] <= 31) \
                && (-31 <= (a)[0]) && (-31 <= (a)[1]) && (-31 <= (a)[2]))

/**************************************************/
/*************************************************/


/* register address of YAS532*/
#define BMI160_YAS532_TESTR1                    (0x88)
#define BMI160_YAS532_TESTR2                    (0x89)
#define BMI160_YAS532_RCOIL                             (0x81)
#define BMI160_YAS532_COMMAND_REGISTER  (0x82)
#define BMI160_YAS532_DATA_REGISTER             (0xB0)
/* calib data register definition*/
#define BMI160_YAS532_CALIB_CX          (0x90)
#define BMI160_YAS532_CALIB_CY1         (0x91)
#define BMI160_YAS532_CALIB_CY2         (0x92)
#define BMI160_YAS532_CALIB1            (0x93)
#define BMI160_YAS532_CALIB2            (0x94)
#define BMI160_YAS532_CALIB3            (0x95)
#define BMI160_YAS532_CALIB4            (0x96)
#define BMI160_YAS532_CALIB5            (0x97)
#define BMI160_YAS532_CLAIB6            (0x98)
#define BMI160_YAS532_CALIB7            (0x99)
#define BMI160_YAS532_CALIB8            (0x9A)
#define BMI160_YAS532_CALIIB9           (0x9B)
#define BMI160_YAS532_CALIB10           (0x9C)
#define BMI160_YAS532_CALIB11           (0x9D)
/* offset definition */
#define BMI160_YAS532_OFFSET_X          (0x85)
#define BMI160_YAS532_OFFSET_Y          (0x86)
#define BMI160_YAS532_OFFSET_Z          (0x87)
/* data to write register for yas532*/
#define BMI160_YAS532_WRITE_TESTR1          (0x00)
#define BMI160_YAS532_WRITE_TESTR2          (0x00)
#define BMI160_YAS532_WRITE_RCOIL       (0x00)
/**************************************************/
/*************************************************/

#define YAS537_SRSTR_DATA                       (0x02)
#define YAS537_WRITE_A_D_CONVERTER              (0x03)
#define YAS537_WRITE_A_D_CONVERTER2             (0xF8)
#define YAS537_WRITE_FILTER             (0x08)
#define YAS537_WRITE_CONFR              (0x08)
#define YAS537_WRITE_TEMP_CALIB         (0xFF)
#define YAS537_SET_COMMAND_REGISTER     (0x01)

/**************************************************/
/*************************************************/
#define YAS537_REG_SRSTR                                (0x90)
#define YAS537_REG_CALR_C0                              (0xC0)
#define YAS537_REG_CALR_C1                              (0xC1)
#define YAS537_REG_CALR_C2                              (0xC2)
#define YAS537_REG_CALR_C3                              (0xC3)
#define YAS537_REG_CALR_C4                              (0xC4)
#define YAS537_REG_CALR_C5                              (0xC5)
#define YAS537_REG_CALR_C6                              (0xC6)
#define YAS537_REG_CALR_C7                              (0xC7)
#define YAS537_REG_CALR_C8                              (0xC8)
#define YAS537_REG_CALR_C9                              (0xC9)
#define YAS537_REG_CALR_CA                              (0xCA)
#define YAS537_REG_CALR_CB                              (0xCB)
#define YAS537_REG_CALR_CC                              (0xCC)
#define YAS537_REG_CALR_CD                              (0xCD)
#define YAS537_REG_CALR_CE                              (0xCE)
#define YAS537_REG_CALR_CF                              (0xCF)
#define YAS537_REG_CALR_DO                              (0xD0)
#define YAS537_REG_MTCR                                 (0x93)
#define YAS537_REG_CONFR                                (0x82)
#define BMI160_REG_YAS537_CMDR                  (0x81)
#define YAS537_REG_OXR                                  (0x84)
#define YAS537_REG_AVRR                                 (0x87)
#define YAS537_REG_HCKR                                 (0x88)
#define YAS537_REG_LCKR                                 (0x89)
#define YAS537_REG_ADCCALR                              (0x91)
#define YAS537_REG_ADCCALR_ONE                  (0x92)
#define YAS537_REG_OCR                                  (0x9E)
#define YAS537_REG_TRMR                         (0x9F)
#define YAS537_REG_TEMPERATURE_0                (0xB0)
#define YAS537_REG_TEMPERATURE_1                (0xB1)
#define YAS537_REG_DATA_X_0                             (0xB2)
#define YAS537_REG_DATA_X_1                             (0xB3)
#define YAS537_REG_DATA_Y1_0                    (0xB4)
#define YAS537_REG_DATA_Y1_1                    (0xB5)
#define YAS537_REG_DATA_Y2_0                    (0xB6)
#define YAS537_REG_DATA_Y2_1                    (0xB7)
#define YAS537_MAG_STATE_NORMAL                 (0)
#define YAS537_MAG_STATE_INIT_COIL              (1)
#define YAS537_MAG_STATE_RECORD_DATA    (2)
#define YAS537_DATA_UNDERFLOW                   (0)
#define YAS537_DATA_OVERFLOW                    (16383)
/****************************************************/
/***************************************************/
#define yas537_set_vector(to, from) \
        {int _l; for (_l = 0; _l < 3; _l++) (to)[_l] = (from)[_l]; }

#ifndef ABS
#define ABS(a)          ((a) > 0 ? (a) : -(a)) 
#endif
/****************************************************/
/***************************************************/
#define AKM09912_SENSITIVITY_DIV        (256)
#define AKM09912_SENSITIVITY            (128)
#define AKM09911_SENSITIVITY_DIV        (128)
#define AKM_ASAX        (0)
#define AKM_ASAY        (1)
#define AKM_ASAZ        (2)
#define AKM_POWER_DOWN_MODE_DATA                (0x00)
#define AKM_FUSE_ROM_MODE                               (0x1F)
#define AKM_POWER_MODE_REG                              (0x31)
#define AKM_SINGLE_MEASUREMENT_MODE             (0x01)
#define AKM_DATA_REGISTER                               (0x11)

#define AKM_CHIP_ID_REG                 (0x01)
/****************************************************/
/***************************************************/
#define BMI160_BMM150_SET_POWER_CONTROL (0x01)
#define BMI160_BMM150_MAX_RETRY_WAKEUP  (5)
#define BMI160_BMM150_POWER_ON                  (0x01)
#define BMI160_BMM150_POWER_OFF                 (0x00)
#define BMI160_BMM150_FORCE_MODE                (0x02)
#define BMI160_BMM150_POWER_ON_SUCCESS  (0)
#define BMI160_BMM150_POWER_ON_FAIL             ((s8)-1)

#define BMI160_BMM150_DIG_X1                    (0)
#define BMI160_BMM150_DIG_Y1                    (1)
#define BMI160_BMM150_DIG_X2                    (2)
#define BMI160_BMM150_DIG_Y3                    (3)
#define BMI160_BMM150_DIG_XY1                   (4)
#define BMI160_BMM150_DIG_XY2                   (5)
#define BMI160_BMM150_DIG_Z1_LSB                (6)
#define BMI160_BMM150_DIG_Z1_MSB                (7)
#define BMI160_BMM150_DIG_Z2_LSB                (8)
#define BMI160_BMM150_DIG_Z2_MSB                (9)
#define BMI160_BMM150_DIG_DIG_Z3_LSB    (10)
#define BMI160_BMM150_DIG_DIG_Z3_MSB    (11)
#define BMI160_BMM150_DIG_DIG_Z4_LSB    (12)
#define BMI160_BMM150_DIG_DIG_Z4_MSB    (13)
#define BMI160_BMM150_DIG_DIG_XYZ1_LSB  (14)
#define BMI160_BMM150_DIG_DIG_XYZ1_MSB  (15)
#define BMI160_FIFO_FRAME_CNT                   (146)
#define BMI160_FRAME_COUNT                              (1)

/**************************************************************/
/**************************************************************/
struct bmi160_t {
u8 chip_id;
u8 dev_addr;
s8 mag_manual_enable;
BMI160_WR_FUNC_PTR;
BMI160_RD_FUNC_PTR;
BMI160_BRD_FUNC_PTR;
void (*delay_msec)(BMI160_MDELAY_DATA_TYPE);
};
struct bmi160_mag_t {
s32 x;
s32 y;
s32 z;
};
struct bmi160_mag_xyzr_t {
s16 x;
s16 y;
s16 z;
u16 r;
};
struct bmi160_gyro_t {
s16 x;
s16 y;
s16 z;
};
struct bmi160_accel_t {
s16 x;
s16 y;
s16 z;
};
struct bmi160_sensortime_accel_gyro_data {
struct bmi160_gyro_t gyro; 
struct bmi160_accel_t accel;
u32 v_sensor_time_u32;
};
struct bmi160_mag_xyz_s32_t {
s32 x;
s32 y;
s32 z;
};
struct trim_data_t {
s8 dig_x1;
s8 dig_y1;
s8 dig_x2;
s8 dig_y2;
u16 dig_z1;
s16 dig_z2;
s16 dig_z3;
s16 dig_z4;
u8 dig_xy1;
s8 dig_xy2;
u16 dig_xyz1;
};
#ifdef FIFO_ENABLE

struct bmi160_fifo_data_header_less_t {

struct bmi160_accel_t accel_fifo[BMI160_FIFO_FRAME_CNT];
struct bmi160_mag_t mag_fifo[BMI160_FIFO_FRAME_CNT];
struct bmi160_gyro_t gyro_fifo[BMI160_FIFO_FRAME_CNT];
u8 accel_frame_count;
u8 gyro_frame_count;
u8 mag_frame_count;
};
struct bmi160_fifo_data_header_t {
struct bmi160_accel_t accel_fifo[BMI160_FIFO_FRAME_CNT];
struct bmi160_mag_t mag_fifo[BMI160_FIFO_FRAME_CNT];
struct bmi160_gyro_t gyro_fifo[BMI160_FIFO_FRAME_CNT];
u32 fifo_time;
u8 skip_frame;
u8 fifo_input_config_info; 
u8 accel_frame_count; 
u8 gyro_frame_count; 
u8 mag_frame_count; 
u8 fifo_header[BMI160_FIFO_FRAME_CNT]; 
};
struct bmi160_mag_fifo_data_t {
u8 mag_x_lsb;
u8 mag_x_msb;
u8 mag_y_lsb;
u8 mag_y_msb;
u8 mag_z_lsb;
u8 mag_z_msb;
u8 mag_r_y2_lsb;
u8 mag_r_y2_msb;
};
#endif
/**************************************************************/
/**************************************************************/

/**************************************************************/
/**************************************************************/
/* Chip ID Description - Reg Addr --> (0x00), Bit --> 0...7 */
#define BMI160_USER_CHIP_ID__POS             (0)
#define BMI160_USER_CHIP_ID__MSK            (0xFF)
#define BMI160_USER_CHIP_ID__LEN             (8)
#define BMI160_USER_CHIP_ID__REG             (BMI160_USER_CHIP_ID_ADDR)
/**************************************************************/
/**************************************************************/
/* Error Description - Reg Addr --> (0x02), Bit --> 0 */
#define BMI160_USER_ERR_STAT__POS               (0)
#define BMI160_USER_ERR_STAT__LEN               (8)
#define BMI160_USER_ERR_STAT__MSK               (0xFF)
#define BMI160_USER_ERR_STAT__REG               (BMI160_USER_ERROR_ADDR)

#define BMI160_USER_FATAL_ERR__POS               (0)
#define BMI160_USER_FATAL_ERR__LEN               (1)
#define BMI160_USER_FATAL_ERR__MSK               (0x01)
#define BMI160_USER_FATAL_ERR__REG               (BMI160_USER_ERROR_ADDR)

/* Error Description - Reg Addr --> (0x02), Bit --> 1...4 */
#define BMI160_USER_ERR_CODE__POS               (1)
#define BMI160_USER_ERR_CODE__LEN               (4)
#define BMI160_USER_ERR_CODE__MSK               (0x1E)
#define BMI160_USER_ERR_CODE__REG               (BMI160_USER_ERROR_ADDR)

/* Error Description - Reg Addr --> (0x02), Bit --> 5 */
#define BMI160_USER_I2C_FAIL_ERR__POS               (5)
#define BMI160_USER_I2C_FAIL_ERR__LEN               (1)
#define BMI160_USER_I2C_FAIL_ERR__MSK               (0x20)
#define BMI160_USER_I2C_FAIL_ERR__REG               (BMI160_USER_ERROR_ADDR)

/* Error Description - Reg Addr --> (0x02), Bit --> 6 */
#define BMI160_USER_DROP_CMD_ERR__POS              (6)
#define BMI160_USER_DROP_CMD_ERR__LEN              (1)
#define BMI160_USER_DROP_CMD_ERR__MSK              (0x40)
#define BMI160_USER_DROP_CMD_ERR__REG              (BMI160_USER_ERROR_ADDR)
/**************************************************************/
/**************************************************************/
/* Error Description - Reg Addr --> (0x02), Bit --> 7 */
#define BMI160_USER_MAG_DATA_RDY_ERR__POS               (7)
#define BMI160_USER_MAG_DATA_RDY_ERR__LEN               (1)
#define BMI160_USER_MAG_DATA_RDY_ERR__MSK               (0x80)
#define BMI160_USER_MAG_DATA_RDY_ERR__REG               (BMI160_USER_ERROR_ADDR)
/**************************************************************/
/**************************************************************/
/* PMU_Status Description of MAG - Reg Addr --> (0x03), Bit --> 1..0 */
#define BMI160_USER_MAG_POWER_MODE_STAT__POS            (0)
#define BMI160_USER_MAG_POWER_MODE_STAT__LEN            (2)
#define BMI160_USER_MAG_POWER_MODE_STAT__MSK            (0x03)
#define BMI160_USER_MAG_POWER_MODE_STAT__REG            \
(BMI160_USER_PMU_STAT_ADDR)
/**************************************************************/
/**************************************************************/
/* PMU_Status Description of GYRO - Reg Addr --> (0x03), Bit --> 3...2 */
#define BMI160_USER_GYRO_POWER_MODE_STAT__POS               (2)
#define BMI160_USER_GYRO_POWER_MODE_STAT__LEN               (2)
#define BMI160_USER_GYRO_POWER_MODE_STAT__MSK               (0x0C)
#define BMI160_USER_GYRO_POWER_MODE_STAT__REG                 \
(BMI160_USER_PMU_STAT_ADDR)
/**************************************************************/
/**************************************************************/
/* PMU_Status Description of ACCEL - Reg Addr --> (0x03), Bit --> 5...4 */
#define BMI160_USER_ACCEL_POWER_MODE_STAT__POS               (4)
#define BMI160_USER_ACCEL_POWER_MODE_STAT__LEN               (2)
#define BMI160_USER_ACCEL_POWER_MODE_STAT__MSK               (0x30)
#define BMI160_USER_ACCEL_POWER_MODE_STAT__REG              \
(BMI160_USER_PMU_STAT_ADDR)
/**************************************************************/
/**************************************************************/
/* Mag_X(LSB) Description - Reg Addr --> (0x04), Bit --> 0...7 */
#define BMI160_USER_DATA_0_MAG_X_LSB__POS           (0)
#define BMI160_USER_DATA_0_MAG_X_LSB__LEN           (8)
#define BMI160_USER_DATA_0_MAG_X_LSB__MSK          (0xFF)
#define BMI160_USER_DATA_0_MAG_X_LSB__REG          (BMI160_USER_DATA_0_ADDR)

/* Mag_X(LSB) Description - Reg Addr --> (0x04), Bit --> 3...7 */
#define BMI160_USER_DATA_MAG_X_LSB__POS           (3)
#define BMI160_USER_DATA_MAG_X_LSB__LEN           (5)
#define BMI160_USER_DATA_MAG_X_LSB__MSK          (0xF8)
#define BMI160_USER_DATA_MAG_X_LSB__REG          (BMI160_USER_DATA_0_ADDR)

/* Mag_X(MSB) Description - Reg Addr --> (0x05), Bit --> 0...7 */
#define BMI160_USER_DATA_1_MAG_X_MSB__POS           (0)
#define BMI160_USER_DATA_1_MAG_X_MSB__LEN           (8)
#define BMI160_USER_DATA_1_MAG_X_MSB__MSK          (0xFF)
#define BMI160_USER_DATA_1_MAG_X_MSB__REG          (BMI160_USER_DATA_1_ADDR)

/* Mag_Y(LSB) Description - Reg Addr --> (0x06), Bit --> 0...7 */
#define BMI160_USER_DATA_2_MAG_Y_LSB__POS           (0)
#define BMI160_USER_DATA_2_MAG_Y_LSB__LEN           (8)
#define BMI160_USER_DATA_2_MAG_Y_LSB__MSK          (0xFF)
#define BMI160_USER_DATA_2_MAG_Y_LSB__REG          (BMI160_USER_DATA_2_ADDR)

/* Mag_Y(LSB) Description - Reg Addr --> (0x06), Bit --> 3...7 */
#define BMI160_USER_DATA_MAG_Y_LSB__POS           (3)
#define BMI160_USER_DATA_MAG_Y_LSB__LEN           (5)
#define BMI160_USER_DATA_MAG_Y_LSB__MSK          (0xF8)
#define BMI160_USER_DATA_MAG_Y_LSB__REG          (BMI160_USER_DATA_2_ADDR)

/* Mag_Y(MSB) Description - Reg Addr --> (0x07), Bit --> 0...7 */
#define BMI160_USER_DATA_3_MAG_Y_MSB__POS           (0)
#define BMI160_USER_DATA_3_MAG_Y_MSB__LEN           (8)
#define BMI160_USER_DATA_3_MAG_Y_MSB__MSK          (0xFF)
#define BMI160_USER_DATA_3_MAG_Y_MSB__REG          (BMI160_USER_DATA_3_ADDR)

/* Mag_Z(LSB) Description - Reg Addr --> (0x08), Bit --> 0...7 */
#define BMI160_USER_DATA_4_MAG_Z_LSB__POS           (0)
#define BMI160_USER_DATA_4_MAG_Z_LSB__LEN           (8)
#define BMI160_USER_DATA_4_MAG_Z_LSB__MSK          (0xFF)
#define BMI160_USER_DATA_4_MAG_Z_LSB__REG          (BMI160_USER_DATA_4_ADDR)

/* Mag_X(LSB) Description - Reg Addr --> (0x08), Bit --> 3...7 */
#define BMI160_USER_DATA_MAG_Z_LSB__POS           (1)
#define BMI160_USER_DATA_MAG_Z_LSB__LEN           (7)
#define BMI160_USER_DATA_MAG_Z_LSB__MSK          (0xFE)
#define BMI160_USER_DATA_MAG_Z_LSB__REG          (BMI160_USER_DATA_4_ADDR)

/* Mag_Z(MSB) Description - Reg Addr --> (0x09), Bit --> 0...7 */
#define BMI160_USER_DATA_5_MAG_Z_MSB__POS           (0)
#define BMI160_USER_DATA_5_MAG_Z_MSB__LEN           (8)
#define BMI160_USER_DATA_5_MAG_Z_MSB__MSK          (0xFF)
#define BMI160_USER_DATA_5_MAG_Z_MSB__REG          (BMI160_USER_DATA_5_ADDR)

/* RHALL(LSB) Description - Reg Addr --> (0x0A), Bit --> 0...7 */
#define BMI160_USER_DATA_6_RHALL_LSB__POS           (0)
#define BMI160_USER_DATA_6_RHALL_LSB__LEN           (8)
#define BMI160_USER_DATA_6_RHALL_LSB__MSK          (0xFF)
#define BMI160_USER_DATA_6_RHALL_LSB__REG          (BMI160_USER_DATA_6_ADDR)

/* Mag_R(LSB) Description - Reg Addr --> (0x0A), Bit --> 3...7 */
#define BMI160_USER_DATA_MAG_R_LSB__POS           (2)
#define BMI160_USER_DATA_MAG_R_LSB__LEN           (6)
#define BMI160_USER_DATA_MAG_R_LSB__MSK          (0xFC)
#define BMI160_USER_DATA_MAG_R_LSB__REG          (BMI160_USER_DATA_6_ADDR)

/* RHALL(MSB) Description - Reg Addr --> (0x0B), Bit --> 0...7 */
#define BMI160_USER_DATA_7_RHALL_MSB__POS           (0)
#define BMI160_USER_DATA_7_RHALL_MSB__LEN           (8)
#define BMI160_USER_DATA_7_RHALL_MSB__MSK          (0xFF)
#define BMI160_USER_DATA_7_RHALL_MSB__REG          (BMI160_USER_DATA_7_ADDR)
/**************************************************************/
/**************************************************************/
/* GYR_X (LSB) Description - Reg Addr --> (0x0C), Bit --> 0...7 */
#define BMI160_USER_DATA_8_GYRO_X_LSB__POS           (0)
#define BMI160_USER_DATA_8_GYRO_X_LSB__LEN           (8)
#define BMI160_USER_DATA_8_GYRO_X_LSB__MSK          (0xFF)
#define BMI160_USER_DATA_8_GYRO_X_LSB__REG          (BMI160_USER_DATA_8_ADDR)

/* GYR_X (MSB) Description - Reg Addr --> (0x0D), Bit --> 0...7 */
#define BMI160_USER_DATA_9_GYRO_X_MSB__POS           (0)
#define BMI160_USER_DATA_9_GYRO_X_MSB__LEN           (8)
#define BMI160_USER_DATA_9_GYRO_X_MSB__MSK          (0xFF)
#define BMI160_USER_DATA_9_GYRO_X_MSB__REG          (BMI160_USER_DATA_9_ADDR)

/* GYR_Y (LSB) Description - Reg Addr --> 0x0E, Bit --> 0...7 */
#define BMI160_USER_DATA_10_GYRO_Y_LSB__POS           (0)
#define BMI160_USER_DATA_10_GYRO_Y_LSB__LEN           (8)
#define BMI160_USER_DATA_10_GYRO_Y_LSB__MSK          (0xFF)
#define BMI160_USER_DATA_10_GYRO_Y_LSB__REG          (BMI160_USER_DATA_10_ADDR)

/* GYR_Y (MSB) Description - Reg Addr --> (0x0F), Bit --> 0...7 */
#define BMI160_USER_DATA_11_GYRO_Y_MSB__POS           (0)
#define BMI160_USER_DATA_11_GYRO_Y_MSB__LEN           (8)
#define BMI160_USER_DATA_11_GYRO_Y_MSB__MSK          (0xFF)
#define BMI160_USER_DATA_11_GYRO_Y_MSB__REG          (BMI160_USER_DATA_11_ADDR)

/* GYR_Z (LSB) Description - Reg Addr --> (0x10), Bit --> 0...7 */
#define BMI160_USER_DATA_12_GYRO_Z_LSB__POS           (0)
#define BMI160_USER_DATA_12_GYRO_Z_LSB__LEN           (8)
#define BMI160_USER_DATA_12_GYRO_Z_LSB__MSK          (0xFF)
#define BMI160_USER_DATA_12_GYRO_Z_LSB__REG          (BMI160_USER_DATA_12_ADDR)

/* GYR_Z (MSB) Description - Reg Addr --> (0x11), Bit --> 0...7 */
#define BMI160_USER_DATA_13_GYRO_Z_MSB__POS           (0)
#define BMI160_USER_DATA_13_GYRO_Z_MSB__LEN           (8)
#define BMI160_USER_DATA_13_GYRO_Z_MSB__MSK          (0xFF)
#define BMI160_USER_DATA_13_GYRO_Z_MSB__REG          (BMI160_USER_DATA_13_ADDR)
/**************************************************************/
/**************************************************************/
/* ACC_X (LSB) Description - Reg Addr --> (0x12), Bit --> 0...7 */
#define BMI160_USER_DATA_14_ACCEL_X_LSB__POS           (0)
#define BMI160_USER_DATA_14_ACCEL_X_LSB__LEN           (8)
#define BMI160_USER_DATA_14_ACCEL_X_LSB__MSK          (0xFF)
#define BMI160_USER_DATA_14_ACCEL_X_LSB__REG          (BMI160_USER_DATA_14_ADDR)

/* ACC_X (MSB) Description - Reg Addr --> 0x13, Bit --> 0...7 */
#define BMI160_USER_DATA_15_ACCEL_X_MSB__POS           (0)
#define BMI160_USER_DATA_15_ACCEL_X_MSB__LEN           (8)
#define BMI160_USER_DATA_15_ACCEL_X_MSB__MSK          (0xFF)
#define BMI160_USER_DATA_15_ACCEL_X_MSB__REG          (BMI160_USER_DATA_15_ADDR)

/* ACC_Y (LSB) Description - Reg Addr --> (0x14), Bit --> 0...7 */
#define BMI160_USER_DATA_16_ACCEL_Y_LSB__POS           (0)
#define BMI160_USER_DATA_16_ACCEL_Y_LSB__LEN           (8)
#define BMI160_USER_DATA_16_ACCEL_Y_LSB__MSK          (0xFF)
#define BMI160_USER_DATA_16_ACCEL_Y_LSB__REG          (BMI160_USER_DATA_16_ADDR)

/* ACC_Y (MSB) Description - Reg Addr --> (0x15), Bit --> 0...7 */
#define BMI160_USER_DATA_17_ACCEL_Y_MSB__POS           (0)
#define BMI160_USER_DATA_17_ACCEL_Y_MSB__LEN           (8)
#define BMI160_USER_DATA_17_ACCEL_Y_MSB__MSK          (0xFF)
#define BMI160_USER_DATA_17_ACCEL_Y_MSB__REG          (BMI160_USER_DATA_17_ADDR)

/* ACC_Z (LSB) Description - Reg Addr --> 0x16, Bit --> 0...7 */
#define BMI160_USER_DATA_18_ACCEL_Z_LSB__POS           (0)
#define BMI160_USER_DATA_18_ACCEL_Z_LSB__LEN           (8)
#define BMI160_USER_DATA_18_ACCEL_Z_LSB__MSK          (0xFF)
#define BMI160_USER_DATA_18_ACCEL_Z_LSB__REG          (BMI160_USER_DATA_18_ADDR)

/* ACC_Z (MSB) Description - Reg Addr --> (0x17), Bit --> 0...7 */
#define BMI160_USER_DATA_19_ACCEL_Z_MSB__POS           (0)
#define BMI160_USER_DATA_19_ACCEL_Z_MSB__LEN           (8)
#define BMI160_USER_DATA_19_ACCEL_Z_MSB__MSK          (0xFF)
#define BMI160_USER_DATA_19_ACCEL_Z_MSB__REG          (BMI160_USER_DATA_19_ADDR)
/**************************************************************/
/**************************************************************/
/* SENSORTIME_0 (LSB) Description - Reg Addr --> (0x18), Bit --> 0...7 */
#define BMI160_USER_SENSORTIME_0_SENSOR_TIME_LSB__POS           (0)
#define BMI160_USER_SENSORTIME_0_SENSOR_TIME_LSB__LEN           (8)
#define BMI160_USER_SENSORTIME_0_SENSOR_TIME_LSB__MSK          (0xFF)
#define BMI160_USER_SENSORTIME_0_SENSOR_TIME_LSB__REG          \
                (BMI160_USER_SENSORTIME_0_ADDR)

/* SENSORTIME_1 (MSB) Description - Reg Addr --> (0x19), Bit --> 0...7 */
#define BMI160_USER_SENSORTIME_1_SENSOR_TIME_MSB__POS           (0)
#define BMI160_USER_SENSORTIME_1_SENSOR_TIME_MSB__LEN           (8)
#define BMI160_USER_SENSORTIME_1_SENSOR_TIME_MSB__MSK          (0xFF)
#define BMI160_USER_SENSORTIME_1_SENSOR_TIME_MSB__REG          \
                (BMI160_USER_SENSORTIME_1_ADDR)

/* SENSORTIME_2 (MSB) Description - Reg Addr --> (0x1A), Bit --> 0...7 */
#define BMI160_USER_SENSORTIME_2_SENSOR_TIME_MSB__POS           (0)
#define BMI160_USER_SENSORTIME_2_SENSOR_TIME_MSB__LEN           (8)
#define BMI160_USER_SENSORTIME_2_SENSOR_TIME_MSB__MSK          (0xFF)
#define BMI160_USER_SENSORTIME_2_SENSOR_TIME_MSB__REG          \
                (BMI160_USER_SENSORTIME_2_ADDR)
/**************************************************************/
/**************************************************************/
/* Status Description - Reg Addr --> 0x1B, Bit --> 1 */
#define BMI160_USER_STAT_GYRO_SELFTEST_OK__POS          (1)
#define BMI160_USER_STAT_GYRO_SELFTEST_OK__LEN          (1)
#define BMI160_USER_STAT_GYRO_SELFTEST_OK__MSK          (0x02)
#define BMI160_USER_STAT_GYRO_SELFTEST_OK__REG         \
                (BMI160_USER_STAT_ADDR)
/**************************************************************/
/**************************************************************/
/* Status Description - Reg Addr --> 0x1B, Bit --> 2 */
#define BMI160_USER_STAT_MAG_MANUAL_OPERATION__POS          (2)
#define BMI160_USER_STAT_MAG_MANUAL_OPERATION__LEN          (1)
#define BMI160_USER_STAT_MAG_MANUAL_OPERATION__MSK          (0x04)
#define BMI160_USER_STAT_MAG_MANUAL_OPERATION__REG          \
                (BMI160_USER_STAT_ADDR)
/**************************************************************/
/**************************************************************/
/* Status Description - Reg Addr --> 0x1B, Bit --> 3 */
#define BMI160_USER_STAT_FOC_RDY__POS          (3)
#define BMI160_USER_STAT_FOC_RDY__LEN          (1)
#define BMI160_USER_STAT_FOC_RDY__MSK          (0x08)
#define BMI160_USER_STAT_FOC_RDY__REG          (BMI160_USER_STAT_ADDR)
/**************************************************************/
/**************************************************************/
/* Status Description - Reg Addr --> 0x1B, Bit --> 4 */
#define BMI160_USER_STAT_NVM_RDY__POS           (4)
#define BMI160_USER_STAT_NVM_RDY__LEN           (1)
#define BMI160_USER_STAT_NVM_RDY__MSK           (0x10)
#define BMI160_USER_STAT_NVM_RDY__REG           (BMI160_USER_STAT_ADDR)
/**************************************************************/
/**************************************************************/
/* Status Description - Reg Addr --> 0x1B, Bit --> 5 */
#define BMI160_USER_STAT_DATA_RDY_MAG__POS           (5)
#define BMI160_USER_STAT_DATA_RDY_MAG__LEN           (1)
#define BMI160_USER_STAT_DATA_RDY_MAG__MSK           (0x20)
#define BMI160_USER_STAT_DATA_RDY_MAG__REG           (BMI160_USER_STAT_ADDR)

/* Status Description - Reg Addr --> 0x1B, Bit --> 6 */
#define BMI160_USER_STAT_DATA_RDY_GYRO__POS           (6)
#define BMI160_USER_STAT_DATA_RDY_GYRO__LEN           (1)
#define BMI160_USER_STAT_DATA_RDY_GYRO__MSK           (0x40)
#define BMI160_USER_STAT_DATA_RDY_GYRO__REG           (BMI160_USER_STAT_ADDR)

/* Status Description - Reg Addr --> 0x1B, Bit --> 7 */
#define BMI160_USER_STAT_DATA_RDY_ACCEL__POS           (7)
#define BMI160_USER_STAT_DATA_RDY_ACCEL__LEN           (1)
#define BMI160_USER_STAT_DATA_RDY_ACCEL__MSK           (0x80)
#define BMI160_USER_STAT_DATA_RDY_ACCEL__REG           (BMI160_USER_STAT_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Status_0 Description - Reg Addr --> 0x1C, Bit --> 0 */
#define BMI160_USER_INTR_STAT_0_STEP_INTR__POS           (0)
#define BMI160_USER_INTR_STAT_0_STEP_INTR__LEN           (1)
#define BMI160_USER_INTR_STAT_0_STEP_INTR__MSK          (0x01)
#define BMI160_USER_INTR_STAT_0_STEP_INTR__REG          \
                (BMI160_USER_INTR_STAT_0_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Status_0 Description - Reg Addr --> 0x1C, Bit --> 1 */
#define BMI160_USER_INTR_STAT_0_SIGNIFICANT_INTR__POS           (1)
#define BMI160_USER_INTR_STAT_0_SIGNIFICANT_INTR__LEN           (1)
#define BMI160_USER_INTR_STAT_0_SIGNIFICANT_INTR__MSK           (0x02)
#define BMI160_USER_INTR_STAT_0_SIGNIFICANT_INTR__REG       \
                (BMI160_USER_INTR_STAT_0_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Status_0 Description - Reg Addr --> 0x1C, Bit --> 2 */
#define BMI160_USER_INTR_STAT_0_ANY_MOTION__POS           (2)
#define BMI160_USER_INTR_STAT_0_ANY_MOTION__LEN           (1)
#define BMI160_USER_INTR_STAT_0_ANY_MOTION__MSK          (0x04)
#define BMI160_USER_INTR_STAT_0_ANY_MOTION__REG          \
                (BMI160_USER_INTR_STAT_0_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Status_0 Description - Reg Addr --> 0x1C, Bit --> 3 */
#define BMI160_USER_INTR_STAT_0_PMU_TRIGGER__POS           3
#define BMI160_USER_INTR_STAT_0_PMU_TRIGGER__LEN           (1)
#define BMI160_USER_INTR_STAT_0_PMU_TRIGGER__MSK          (0x08)
#define BMI160_USER_INTR_STAT_0_PMU_TRIGGER__REG          \
                (BMI160_USER_INTR_STAT_0_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Status_0 Description - Reg Addr --> 0x1C, Bit --> 4 */
#define BMI160_USER_INTR_STAT_0_DOUBLE_TAP_INTR__POS           4
#define BMI160_USER_INTR_STAT_0_DOUBLE_TAP_INTR__LEN           (1)
#define BMI160_USER_INTR_STAT_0_DOUBLE_TAP_INTR__MSK          (0x10)
#define BMI160_USER_INTR_STAT_0_DOUBLE_TAP_INTR__REG          \
                (BMI160_USER_INTR_STAT_0_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Status_0 Description - Reg Addr --> 0x1C, Bit --> 5 */
#define BMI160_USER_INTR_STAT_0_SINGLE_TAP_INTR__POS           5
#define BMI160_USER_INTR_STAT_0_SINGLE_TAP_INTR__LEN           (1)
#define BMI160_USER_INTR_STAT_0_SINGLE_TAP_INTR__MSK          (0x20)
#define BMI160_USER_INTR_STAT_0_SINGLE_TAP_INTR__REG          \
                (BMI160_USER_INTR_STAT_0_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Status_0 Description - Reg Addr --> 0x1C, Bit --> 6 */
#define BMI160_USER_INTR_STAT_0_ORIENT__POS           (6)
#define BMI160_USER_INTR_STAT_0_ORIENT__LEN           (1)
#define BMI160_USER_INTR_STAT_0_ORIENT__MSK          (0x40)
#define BMI160_USER_INTR_STAT_0_ORIENT__REG          \
                (BMI160_USER_INTR_STAT_0_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Status_0 Description - Reg Addr --> 0x1C, Bit --> 7 */
#define BMI160_USER_INTR_STAT_0_FLAT__POS           (7)
#define BMI160_USER_INTR_STAT_0_FLAT__LEN           (1)
#define BMI160_USER_INTR_STAT_0_FLAT__MSK          (0x80)
#define BMI160_USER_INTR_STAT_0_FLAT__REG          \
                (BMI160_USER_INTR_STAT_0_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Status_1 Description - Reg Addr --> 0x1D, Bit --> 2 */
#define BMI160_USER_INTR_STAT_1_HIGH_G_INTR__POS               (2)
#define BMI160_USER_INTR_STAT_1_HIGH_G_INTR__LEN               (1)
#define BMI160_USER_INTR_STAT_1_HIGH_G_INTR__MSK              (0x04)
#define BMI160_USER_INTR_STAT_1_HIGH_G_INTR__REG              \
                (BMI160_USER_INTR_STAT_1_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Status_1 Description - Reg Addr --> 0x1D, Bit --> 3 */
#define BMI160_USER_INTR_STAT_1_LOW_G_INTR__POS               (3)
#define BMI160_USER_INTR_STAT_1_LOW_G_INTR__LEN               (1)
#define BMI160_USER_INTR_STAT_1_LOW_G_INTR__MSK              (0x08)
#define BMI160_USER_INTR_STAT_1_LOW_G_INTR__REG              \
                (BMI160_USER_INTR_STAT_1_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Status_1 Description - Reg Addr --> 0x1D, Bit --> 4 */
#define BMI160_USER_INTR_STAT_1_DATA_RDY_INTR__POS               (4)
#define BMI160_USER_INTR_STAT_1_DATA_RDY_INTR__LEN               (1)
#define BMI160_USER_INTR_STAT_1_DATA_RDY_INTR__MSK               (0x10)
#define BMI160_USER_INTR_STAT_1_DATA_RDY_INTR__REG               \
                (BMI160_USER_INTR_STAT_1_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Status_1 Description - Reg Addr --> 0x1D, Bit --> 5 */
#define BMI160_USER_INTR_STAT_1_FIFO_FULL_INTR__POS               (5)
#define BMI160_USER_INTR_STAT_1_FIFO_FULL_INTR__LEN               (1)
#define BMI160_USER_INTR_STAT_1_FIFO_FULL_INTR__MSK               (0x20)
#define BMI160_USER_INTR_STAT_1_FIFO_FULL_INTR__REG               \
                (BMI160_USER_INTR_STAT_1_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Status_1 Description - Reg Addr --> 0x1D, Bit --> 6 */
#define BMI160_USER_INTR_STAT_1_FIFO_WM_INTR__POS               (6)
#define BMI160_USER_INTR_STAT_1_FIFO_WM_INTR__LEN               (1)
#define BMI160_USER_INTR_STAT_1_FIFO_WM_INTR__MSK               (0x40)
#define BMI160_USER_INTR_STAT_1_FIFO_WM_INTR__REG               \
                (BMI160_USER_INTR_STAT_1_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Status_1 Description - Reg Addr --> 0x1D, Bit --> 7 */
#define BMI160_USER_INTR_STAT_1_NOMOTION_INTR__POS               (7)
#define BMI160_USER_INTR_STAT_1_NOMOTION_INTR__LEN               (1)
#define BMI160_USER_INTR_STAT_1_NOMOTION_INTR__MSK               (0x80)
#define BMI160_USER_INTR_STAT_1_NOMOTION_INTR__REG               \
                (BMI160_USER_INTR_STAT_1_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Status_2 Description - Reg Addr --> 0x1E, Bit --> 0 */
#define BMI160_USER_INTR_STAT_2_ANY_MOTION_FIRST_X__POS               (0)
#define BMI160_USER_INTR_STAT_2_ANY_MOTION_FIRST_X__LEN               (1)
#define BMI160_USER_INTR_STAT_2_ANY_MOTION_FIRST_X__MSK               (0x01)
#define BMI160_USER_INTR_STAT_2_ANY_MOTION_FIRST_X__REG               \
                (BMI160_USER_INTR_STAT_2_ADDR)

/* Int_Status_2 Description - Reg Addr --> 0x1E, Bit --> 1 */
#define BMI160_USER_INTR_STAT_2_ANY_MOTION_FIRST_Y__POS               (1)
#define BMI160_USER_INTR_STAT_2_ANY_MOTION_FIRST_Y__LEN               (1)
#define BMI160_USER_INTR_STAT_2_ANY_MOTION_FIRST_Y__MSK               (0x02)
#define BMI160_USER_INTR_STAT_2_ANY_MOTION_FIRST_Y__REG               \
                (BMI160_USER_INTR_STAT_2_ADDR)

/* Int_Status_2 Description - Reg Addr --> 0x1E, Bit --> 2 */
#define BMI160_USER_INTR_STAT_2_ANY_MOTION_FIRST_Z__POS               (2)
#define BMI160_USER_INTR_STAT_2_ANY_MOTION_FIRST_Z__LEN               (1)
#define BMI160_USER_INTR_STAT_2_ANY_MOTION_FIRST_Z__MSK               (0x04)
#define BMI160_USER_INTR_STAT_2_ANY_MOTION_FIRST_Z__REG               \
                (BMI160_USER_INTR_STAT_2_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Status_2 Description - Reg Addr --> 0x1E, Bit --> 3 */
#define BMI160_USER_INTR_STAT_2_ANY_MOTION_SIGN__POS               (3)
#define BMI160_USER_INTR_STAT_2_ANY_MOTION_SIGN__LEN               (1)
#define BMI160_USER_INTR_STAT_2_ANY_MOTION_SIGN__MSK               (0x08)
#define BMI160_USER_INTR_STAT_2_ANY_MOTION_SIGN__REG               \
                (BMI160_USER_INTR_STAT_2_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Status_2 Description - Reg Addr --> 0x1E, Bit --> 4 */
#define BMI160_USER_INTR_STAT_2_TAP_FIRST_X__POS               (4)
#define BMI160_USER_INTR_STAT_2_TAP_FIRST_X__LEN               (1)
#define BMI160_USER_INTR_STAT_2_TAP_FIRST_X__MSK               (0x10)
#define BMI160_USER_INTR_STAT_2_TAP_FIRST_X__REG               \
                (BMI160_USER_INTR_STAT_2_ADDR)

/* Int_Status_2 Description - Reg Addr --> 0x1E, Bit --> 5 */
#define BMI160_USER_INTR_STAT_2_TAP_FIRST_Y__POS               (5)
#define BMI160_USER_INTR_STAT_2_TAP_FIRST_Y__LEN               (1)
#define BMI160_USER_INTR_STAT_2_TAP_FIRST_Y__MSK               (0x20)
#define BMI160_USER_INTR_STAT_2_TAP_FIRST_Y__REG               \
                (BMI160_USER_INTR_STAT_2_ADDR)

/* Int_Status_2 Description - Reg Addr --> 0x1E, Bit --> 6 */
#define BMI160_USER_INTR_STAT_2_TAP_FIRST_Z__POS               (6)
#define BMI160_USER_INTR_STAT_2_TAP_FIRST_Z__LEN               (1)
#define BMI160_USER_INTR_STAT_2_TAP_FIRST_Z__MSK               (0x40)
#define BMI160_USER_INTR_STAT_2_TAP_FIRST_Z__REG               \
                (BMI160_USER_INTR_STAT_2_ADDR)

/* Int_Status_2 Description - Reg Addr --> 0x1E, Bit --> 7 */
#define BMI160_USER_INTR_STAT_2_TAP_SIGN__POS               (7)
#define BMI160_USER_INTR_STAT_2_TAP_SIGN__LEN               (1)
#define BMI160_USER_INTR_STAT_2_TAP_SIGN__MSK               (0x80)
#define BMI160_USER_INTR_STAT_2_TAP_SIGN__REG               \
                (BMI160_USER_INTR_STAT_2_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Status_2 Description - Reg Addr --> 0x1E, Bit --> 0...7 */
#define BMI160_USER_INTR_STAT_2__POS               (0)
#define BMI160_USER_INTR_STAT_2__LEN               (8)
#define BMI160_USER_INTR_STAT_2__MSK               (0xFF)
#define BMI160_USER_INTR_STAT_2__REG               \
                (BMI160_USER_INTR_STAT_2_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Status_3 Description - Reg Addr --> (0x1F), Bit --> 0 */
#define BMI160_USER_INTR_STAT_3_HIGH_G_FIRST_X__POS               (0)
#define BMI160_USER_INTR_STAT_3_HIGH_G_FIRST_X__LEN               (1)
#define BMI160_USER_INTR_STAT_3_HIGH_G_FIRST_X__MSK               (0x01)
#define BMI160_USER_INTR_STAT_3_HIGH_G_FIRST_X__REG               \
                (BMI160_USER_INTR_STAT_3_ADDR)

/* Int_Status_3 Description - Reg Addr --> 0x1E, Bit --> 1 */
#define BMI160_USER_INTR_STAT_3_HIGH_G_FIRST_Y__POS               (1)
#define BMI160_USER_INTR_STAT_3_HIGH_G_FIRST_Y__LEN               (1)
#define BMI160_USER_INTR_STAT_3_HIGH_G_FIRST_Y__MSK               (0x02)
#define BMI160_USER_INTR_STAT_3_HIGH_G_FIRST_Y__REG               \
                (BMI160_USER_INTR_STAT_3_ADDR)

/* Int_Status_3 Description - Reg Addr --> (0x1F), Bit --> 2 */
#define BMI160_USER_INTR_STAT_3_HIGH_G_FIRST_Z__POS               (2)
#define BMI160_USER_INTR_STAT_3_HIGH_G_FIRST_Z__LEN               (1)
#define BMI160_USER_INTR_STAT_3_HIGH_G_FIRST_Z__MSK               (0x04)
#define BMI160_USER_INTR_STAT_3_HIGH_G_FIRST_Z__REG               \
                (BMI160_USER_INTR_STAT_3_ADDR)

/* Int_Status_3 Description - Reg Addr --> (0x1F), Bit --> 3 */
#define BMI160_USER_INTR_STAT_3_HIGH_G_SIGN__POS               (3)
#define BMI160_USER_INTR_STAT_3_HIGH_G_SIGN__LEN               (1)
#define BMI160_USER_INTR_STAT_3_HIGH_G_SIGN__MSK               (0x08)
#define BMI160_USER_INTR_STAT_3_HIGH_G_SIGN__REG               \
                (BMI160_USER_INTR_STAT_3_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Status_3 Description - Reg Addr --> (0x1F), Bit --> 4...5 */
#define BMI160_USER_INTR_STAT_3_ORIENT_XY__POS               (4)
#define BMI160_USER_INTR_STAT_3_ORIENT_XY__LEN               (2)
#define BMI160_USER_INTR_STAT_3_ORIENT_XY__MSK               (0x30)
#define BMI160_USER_INTR_STAT_3_ORIENT_XY__REG               \
                (BMI160_USER_INTR_STAT_3_ADDR)

/* Int_Status_3 Description - Reg Addr --> (0x1F), Bit --> 6 */
#define BMI160_USER_INTR_STAT_3_ORIENT_Z__POS               (6)
#define BMI160_USER_INTR_STAT_3_ORIENT_Z__LEN               (1)
#define BMI160_USER_INTR_STAT_3_ORIENT_Z__MSK               (0x40)
#define BMI160_USER_INTR_STAT_3_ORIENT_Z__REG               \
                (BMI160_USER_INTR_STAT_3_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Status_3 Description - Reg Addr --> (0x1F), Bit --> 7 */
#define BMI160_USER_INTR_STAT_3_FLAT__POS               (7)
#define BMI160_USER_INTR_STAT_3_FLAT__LEN               (1)
#define BMI160_USER_INTR_STAT_3_FLAT__MSK               (0x80)
#define BMI160_USER_INTR_STAT_3_FLAT__REG               \
                (BMI160_USER_INTR_STAT_3_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Status_3 Description - Reg Addr --> (0x1F), Bit --> 0...7 */
#define BMI160_USER_INTR_STAT_3__POS               (0)
#define BMI160_USER_INTR_STAT_3__LEN               (8)
#define BMI160_USER_INTR_STAT_3__MSK               (0xFF)
#define BMI160_USER_INTR_STAT_3__REG               \
                (BMI160_USER_INTR_STAT_3_ADDR)
/**************************************************************/
/**************************************************************/
/* Temperature Description - LSB Reg Addr --> (0x20), Bit --> 0...7 */
#define BMI160_USER_TEMP_LSB_VALUE__POS               (0)
#define BMI160_USER_TEMP_LSB_VALUE__LEN               (8)
#define BMI160_USER_TEMP_LSB_VALUE__MSK               (0xFF)
#define BMI160_USER_TEMP_LSB_VALUE__REG               \
                (BMI160_USER_TEMPERATURE_0_ADDR)

/* Temperature Description - LSB Reg Addr --> 0x21, Bit --> 0...7 */
#define BMI160_USER_TEMP_MSB_VALUE__POS               (0)
#define BMI160_USER_TEMP_MSB_VALUE__LEN               (8)
#define BMI160_USER_TEMP_MSB_VALUE__MSK               (0xFF)
#define BMI160_USER_TEMP_MSB_VALUE__REG               \
                (BMI160_USER_TEMPERATURE_1_ADDR)

#ifdef FIFO_ENABLE
/**************************************************************/
/**************************************************************/
/* Fifo_Length0 Description - Reg Addr --> 0x22, Bit --> 0...7 */
#define BMI160_USER_FIFO_BYTE_COUNTER_LSB__POS           (0)
#define BMI160_USER_FIFO_BYTE_COUNTER_LSB__LEN           (8)
#define BMI160_USER_FIFO_BYTE_COUNTER_LSB__MSK          (0xFF)
#define BMI160_USER_FIFO_BYTE_COUNTER_LSB__REG          \
                (BMI160_USER_FIFO_LENGTH_0_ADDR)

/*Fifo_Length1 Description - Reg Addr --> 0x23, Bit --> 0...2 */
#define BMI160_USER_FIFO_BYTE_COUNTER_MSB__POS           (0)
#define BMI160_USER_FIFO_BYTE_COUNTER_MSB__LEN           3
#define BMI160_USER_FIFO_BYTE_COUNTER_MSB__MSK          (0x07)
#define BMI160_USER_FIFO_BYTE_COUNTER_MSB__REG          \
                (BMI160_USER_FIFO_LENGTH_1_ADDR)

/**************************************************************/
/**************************************************************/
/* Fifo_Data Description - Reg Addr --> 0x24, Bit --> 0...7 */
#define BMI160_USER_FIFO_DATA__POS           (0)
#define BMI160_USER_FIFO_DATA__LEN           (8)
#define BMI160_USER_FIFO_DATA__MSK          (0xFF)
#define BMI160_USER_FIFO_DATA__REG          (BMI160_USER_FIFO_DATA_ADDR)
#endif
/**************************************************************/
/**************************************************************/
/* Acc_Conf Description - Reg Addr --> (0x40), Bit --> 0...3 */
#define BMI160_USER_ACCEL_CONFIG_OUTPUT_DATA_RATE__POS               (0)
#define BMI160_USER_ACCEL_CONFIG_OUTPUT_DATA_RATE__LEN               (4)
#define BMI160_USER_ACCEL_CONFIG_OUTPUT_DATA_RATE__MSK               (0x0F)
#define BMI160_USER_ACCEL_CONFIG_OUTPUT_DATA_RATE__REG                 \
(BMI160_USER_ACCEL_CONFIG_ADDR)

/* Acc_Conf Description - Reg Addr --> (0x40), Bit --> 4...6 */
#define BMI160_USER_ACCEL_CONFIG_ACCEL_BW__POS               (4)
#define BMI160_USER_ACCEL_CONFIG_ACCEL_BW__LEN               (3)
#define BMI160_USER_ACCEL_CONFIG_ACCEL_BW__MSK               (0x70)
#define BMI160_USER_ACCEL_CONFIG_ACCEL_BW__REG  (BMI160_USER_ACCEL_CONFIG_ADDR)

/* Acc_Conf Description - Reg Addr --> (0x40), Bit --> 7 */
#define BMI160_USER_ACCEL_CONFIG_ACCEL_UNDER_SAMPLING__POS           (7)
#define BMI160_USER_ACCEL_CONFIG_ACCEL_UNDER_SAMPLING__LEN           (1)
#define BMI160_USER_ACCEL_CONFIG_ACCEL_UNDER_SAMPLING__MSK           (0x80)
#define BMI160_USER_ACCEL_CONFIG_ACCEL_UNDER_SAMPLING__REG      \
(BMI160_USER_ACCEL_CONFIG_ADDR)

/* Acc_Range Description - Reg Addr --> 0x41, Bit --> 0...3 */
#define BMI160_USER_ACCEL_RANGE__POS               (0)
#define BMI160_USER_ACCEL_RANGE__LEN               (4)
#define BMI160_USER_ACCEL_RANGE__MSK               (0x0F)
#define BMI160_USER_ACCEL_RANGE__REG              \
(BMI160_USER_ACCEL_RANGE_ADDR)
/**************************************************************/
/**************************************************************/
/* Gyro_Conf Description - Reg Addr --> (0x42), Bit --> 0...3 */
#define BMI160_USER_GYRO_CONFIG_OUTPUT_DATA_RATE__POS               (0)
#define BMI160_USER_GYRO_CONFIG_OUTPUT_DATA_RATE__LEN               (4)
#define BMI160_USER_GYRO_CONFIG_OUTPUT_DATA_RATE__MSK               (0x0F)
#define BMI160_USER_GYRO_CONFIG_OUTPUT_DATA_RATE__REG               \
(BMI160_USER_GYRO_CONFIG_ADDR)

/* Gyro_Conf Description - Reg Addr --> (0x42), Bit --> 4...5 */
#define BMI160_USER_GYRO_CONFIG_BW__POS               (4)
#define BMI160_USER_GYRO_CONFIG_BW__LEN               (2)
#define BMI160_USER_GYRO_CONFIG_BW__MSK               (0x30)
#define BMI160_USER_GYRO_CONFIG_BW__REG               \
(BMI160_USER_GYRO_CONFIG_ADDR)

/* Gyr_Range Description - Reg Addr --> 0x43, Bit --> 0...2 */
#define BMI160_USER_GYRO_RANGE__POS               (0)
#define BMI160_USER_GYRO_RANGE__LEN               (3)
#define BMI160_USER_GYRO_RANGE__MSK               (0x07)
#define BMI160_USER_GYRO_RANGE__REG               (BMI160_USER_GYRO_RANGE_ADDR)
/**************************************************************/
/**************************************************************/
/* Mag_Conf Description - Reg Addr --> (0x44), Bit --> 0...3 */
#define BMI160_USER_MAG_CONFIG_OUTPUT_DATA_RATE__POS               (0)
#define BMI160_USER_MAG_CONFIG_OUTPUT_DATA_RATE__LEN               (4)
#define BMI160_USER_MAG_CONFIG_OUTPUT_DATA_RATE__MSK               (0x0F)
#define BMI160_USER_MAG_CONFIG_OUTPUT_DATA_RATE__REG               \
(BMI160_USER_MAG_CONFIG_ADDR)

#ifdef FIFO_ENABLE
/**************************************************************/
/**************************************************************/
/* Fifo_Downs Description - Reg Addr --> 0x45, Bit --> 0...2 */
#define BMI160_USER_FIFO_DOWN_GYRO__POS               (0)
#define BMI160_USER_FIFO_DOWN_GYRO__LEN               (3)
#define BMI160_USER_FIFO_DOWN_GYRO__MSK               (0x07)
#define BMI160_USER_FIFO_DOWN_GYRO__REG (BMI160_USER_FIFO_DOWN_ADDR)
/**************************************************************/
/**************************************************************/
/* Fifo_filt Description - Reg Addr --> 0x45, Bit --> 3 */
#define BMI160_USER_FIFO_FILTER_GYRO__POS               (3)
#define BMI160_USER_FIFO_FILTER_GYRO__LEN               (1)
#define BMI160_USER_FIFO_FILTER_GYRO__MSK               (0x08)
#define BMI160_USER_FIFO_FILTER_GYRO__REG         (BMI160_USER_FIFO_DOWN_ADDR)

/* Fifo_Downs Description - Reg Addr --> 0x45, Bit --> 4...6 */
#define BMI160_USER_FIFO_DOWN_ACCEL__POS               (4)
#define BMI160_USER_FIFO_DOWN_ACCEL__LEN               (3)
#define BMI160_USER_FIFO_DOWN_ACCEL__MSK               (0x70)
#define BMI160_USER_FIFO_DOWN_ACCEL__REG        (BMI160_USER_FIFO_DOWN_ADDR)

/* Fifo_FILT Description - Reg Addr --> 0x45, Bit --> 7 */
#define BMI160_USER_FIFO_FILTER_ACCEL__POS               (7)
#define BMI160_USER_FIFO_FILTER_ACCEL__LEN               (1)
#define BMI160_USER_FIFO_FILTER_ACCEL__MSK               (0x80)
#define BMI160_USER_FIFO_FILTER_ACCEL__REG      (BMI160_USER_FIFO_DOWN_ADDR)
/**************************************************************/
/**************************************************************/
/* Fifo_Config_0 Description - Reg Addr --> 0x46, Bit --> 0...7 */
#define BMI160_USER_FIFO_WM__POS               (0)
#define BMI160_USER_FIFO_WM__LEN               (8)
#define BMI160_USER_FIFO_WM__MSK               (0xFF)
#define BMI160_USER_FIFO_WM__REG        (BMI160_USER_FIFO_CONFIG_0_ADDR)
/**************************************************************/
/**************************************************************/
/* Fifo_Config_1 Description - Reg Addr --> 0x47, Bit --> 1 */
#define BMI160_USER_FIFO_TIME_ENABLE__POS               (1)
#define BMI160_USER_FIFO_TIME_ENABLE__LEN               (1)
#define BMI160_USER_FIFO_TIME_ENABLE__MSK               (0x02)
#define BMI160_USER_FIFO_TIME_ENABLE__REG       (BMI160_USER_FIFO_CONFIG_1_ADDR)
/**************************************************************/
/**************************************************************/
/* Fifo_Config_1 Description - Reg Addr --> 0x47, Bit --> 2 */
#define BMI160_USER_FIFO_TAG_INTR2_ENABLE__POS               (2)
#define BMI160_USER_FIFO_TAG_INTR2_ENABLE__LEN               (1)
#define BMI160_USER_FIFO_TAG_INTR2_ENABLE__MSK               (0x04)
#define BMI160_USER_FIFO_TAG_INTR2_ENABLE__REG  (BMI160_USER_FIFO_CONFIG_1_ADDR)

/* Fifo_Config_1 Description - Reg Addr --> 0x47, Bit --> 3 */
#define BMI160_USER_FIFO_TAG_INTR1_ENABLE__POS               (3)
#define BMI160_USER_FIFO_TAG_INTR1_ENABLE__LEN               (1)
#define BMI160_USER_FIFO_TAG_INTR1_ENABLE__MSK               (0x08)
#define BMI160_USER_FIFO_TAG_INTR1_ENABLE__REG  (BMI160_USER_FIFO_CONFIG_1_ADDR)
/**************************************************************/
/**************************************************************/
/* Fifo_Config_1 Description - Reg Addr --> 0x47, Bit --> 4 */
#define BMI160_USER_FIFO_HEADER_ENABLE__POS               (4)
#define BMI160_USER_FIFO_HEADER_ENABLE__LEN               (1)
#define BMI160_USER_FIFO_HEADER_ENABLE__MSK               (0x10)
#define BMI160_USER_FIFO_HEADER_ENABLE__REG                      \
(BMI160_USER_FIFO_CONFIG_1_ADDR)
/**************************************************************/
/**************************************************************/
/* Fifo_Config_1 Description - Reg Addr --> 0x47, Bit --> 5 */
#define BMI160_USER_FIFO_MAG_ENABLE__POS               (5)
#define BMI160_USER_FIFO_MAG_ENABLE__LEN               (1)
#define BMI160_USER_FIFO_MAG_ENABLE__MSK               (0x20)
#define BMI160_USER_FIFO_MAG_ENABLE__REG                     \
(BMI160_USER_FIFO_CONFIG_1_ADDR)
/**************************************************************/
/**************************************************************/
/* Fifo_Config_1 Description - Reg Addr --> 0x47, Bit --> 6 */
#define BMI160_USER_FIFO_ACCEL_ENABLE__POS               (6)
#define BMI160_USER_FIFO_ACCEL_ENABLE__LEN               (1)
#define BMI160_USER_FIFO_ACCEL_ENABLE__MSK               (0x40)
#define BMI160_USER_FIFO_ACCEL_ENABLE__REG                      \
(BMI160_USER_FIFO_CONFIG_1_ADDR)
/**************************************************************/
/**************************************************************/
/* Fifo_Config_1 Description - Reg Addr --> 0x47, Bit --> 7 */
#define BMI160_USER_FIFO_GYRO_ENABLE__POS               (7)
#define BMI160_USER_FIFO_GYRO_ENABLE__LEN               (1)
#define BMI160_USER_FIFO_GYRO_ENABLE__MSK               (0x80)
#define BMI160_USER_FIFO_GYRO_ENABLE__REG                      \
(BMI160_USER_FIFO_CONFIG_1_ADDR)
#endif
/**************************************************************/
/**************************************************************/

/* Mag_IF_0 Description - Reg Addr --> 0x4b, Bit --> 1...7 */
#define BMI160_USER_I2C_DEVICE_ADDR__POS               (1)
#define BMI160_USER_I2C_DEVICE_ADDR__LEN               (7)
#define BMI160_USER_I2C_DEVICE_ADDR__MSK               (0xFE)
#define BMI160_USER_I2C_DEVICE_ADDR__REG        (BMI160_USER_MAG_IF_0_ADDR)
/**************************************************************/
/**************************************************************/
/* Mag_IF_1 Description - Reg Addr --> 0x4c, Bit --> 0...1 */
#define BMI160_USER_MAG_BURST__POS               (0)
#define BMI160_USER_MAG_BURST__LEN               (2)
#define BMI160_USER_MAG_BURST__MSK               (0x03)
#define BMI160_USER_MAG_BURST__REG               (BMI160_USER_MAG_IF_1_ADDR)

/* Mag_IF_1 Description - Reg Addr --> 0x4c, Bit --> 2...5 */
#define BMI160_USER_MAG_OFFSET__POS               (2)
#define BMI160_USER_MAG_OFFSET__LEN               (4)
#define BMI160_USER_MAG_OFFSET__MSK               (0x3C)
#define BMI160_USER_MAG_OFFSET__REG               (BMI160_USER_MAG_IF_1_ADDR)

/* Mag_IF_1 Description - Reg Addr --> 0x4c, Bit --> 7 */
#define BMI160_USER_MAG_MANUAL_ENABLE__POS               (7)
#define BMI160_USER_MAG_MANUAL_ENABLE__LEN               (1)
#define BMI160_USER_MAG_MANUAL_ENABLE__MSK               (0x80)
#define BMI160_USER_MAG_MANUAL_ENABLE__REG               \
(BMI160_USER_MAG_IF_1_ADDR)

/* Mag_IF_2 Description - Reg Addr --> 0x4d, Bit -->0... 7 */
#define BMI160_USER_READ_ADDR__POS               (0)
#define BMI160_USER_READ_ADDR__LEN               (8)
#define BMI160_USER_READ_ADDR__MSK               (0xFF)
#define BMI160_USER_READ_ADDR__REG               (BMI160_USER_MAG_IF_2_ADDR)

/* Mag_IF_3 Description - Reg Addr --> 0x4e, Bit -->0... 7 */
#define BMI160_USER_WRITE_ADDR__POS               (0)
#define BMI160_USER_WRITE_ADDR__LEN               (8)
#define BMI160_USER_WRITE_ADDR__MSK               (0xFF)
#define BMI160_USER_WRITE_ADDR__REG               (BMI160_USER_MAG_IF_3_ADDR)

/* Mag_IF_4 Description - Reg Addr --> 0x4f, Bit -->0... 7 */
#define BMI160_USER_WRITE_DATA__POS               (0)
#define BMI160_USER_WRITE_DATA__LEN               (8)
#define BMI160_USER_WRITE_DATA__MSK               (0xFF)
#define BMI160_USER_WRITE_DATA__REG               (BMI160_USER_MAG_IF_4_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_En_0 Description - Reg Addr --> 0x50, Bit -->0 */
#define BMI160_USER_INTR_ENABLE_0_ANY_MOTION_X_ENABLE__POS               (0)
#define BMI160_USER_INTR_ENABLE_0_ANY_MOTION_X_ENABLE__LEN               (1)
#define BMI160_USER_INTR_ENABLE_0_ANY_MOTION_X_ENABLE__MSK               (0x01)
#define BMI160_USER_INTR_ENABLE_0_ANY_MOTION_X_ENABLE__REG                    \
(BMI160_USER_INTR_ENABLE_0_ADDR)

/* Int_En_0 Description - Reg Addr --> 0x50, Bit -->1 */
#define BMI160_USER_INTR_ENABLE_0_ANY_MOTION_Y_ENABLE__POS               (1)
#define BMI160_USER_INTR_ENABLE_0_ANY_MOTION_Y_ENABLE__LEN               (1)
#define BMI160_USER_INTR_ENABLE_0_ANY_MOTION_Y_ENABLE__MSK               (0x02)
#define BMI160_USER_INTR_ENABLE_0_ANY_MOTION_Y_ENABLE__REG                \
(BMI160_USER_INTR_ENABLE_0_ADDR)

/* Int_En_0 Description - Reg Addr --> 0x50, Bit -->2 */
#define BMI160_USER_INTR_ENABLE_0_ANY_MOTION_Z_ENABLE__POS               (2)
#define BMI160_USER_INTR_ENABLE_0_ANY_MOTION_Z_ENABLE__LEN               (1)
#define BMI160_USER_INTR_ENABLE_0_ANY_MOTION_Z_ENABLE__MSK               (0x04)
#define BMI160_USER_INTR_ENABLE_0_ANY_MOTION_Z_ENABLE__REG                  \
(BMI160_USER_INTR_ENABLE_0_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_En_0 Description - Reg Addr --> 0x50, Bit -->4 */
#define BMI160_USER_INTR_ENABLE_0_DOUBLE_TAP_ENABLE__POS               (4)
#define BMI160_USER_INTR_ENABLE_0_DOUBLE_TAP_ENABLE__LEN               (1)
#define BMI160_USER_INTR_ENABLE_0_DOUBLE_TAP_ENABLE__MSK               (0x10)
#define BMI160_USER_INTR_ENABLE_0_DOUBLE_TAP_ENABLE__REG                \
(BMI160_USER_INTR_ENABLE_0_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_En_0 Description - Reg Addr --> 0x50, Bit -->5 */
#define BMI160_USER_INTR_ENABLE_0_SINGLE_TAP_ENABLE__POS               (5)
#define BMI160_USER_INTR_ENABLE_0_SINGLE_TAP_ENABLE__LEN               (1)
#define BMI160_USER_INTR_ENABLE_0_SINGLE_TAP_ENABLE__MSK               (0x20)
#define BMI160_USER_INTR_ENABLE_0_SINGLE_TAP_ENABLE__REG               \
(BMI160_USER_INTR_ENABLE_0_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_En_0 Description - Reg Addr --> 0x50, Bit -->6 */
#define BMI160_USER_INTR_ENABLE_0_ORIENT_ENABLE__POS               (6)
#define BMI160_USER_INTR_ENABLE_0_ORIENT_ENABLE__LEN               (1)
#define BMI160_USER_INTR_ENABLE_0_ORIENT_ENABLE__MSK               (0x40)
#define BMI160_USER_INTR_ENABLE_0_ORIENT_ENABLE__REG               \
(BMI160_USER_INTR_ENABLE_0_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_En_0 Description - Reg Addr --> 0x50, Bit -->7 */
#define BMI160_USER_INTR_ENABLE_0_FLAT_ENABLE__POS               (7)
#define BMI160_USER_INTR_ENABLE_0_FLAT_ENABLE__LEN               (1)
#define BMI160_USER_INTR_ENABLE_0_FLAT_ENABLE__MSK               (0x80)
#define BMI160_USER_INTR_ENABLE_0_FLAT_ENABLE__REG                 \
(BMI160_USER_INTR_ENABLE_0_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_En_1 Description - Reg Addr --> (0x51), Bit -->0 */
#define BMI160_USER_INTR_ENABLE_1_HIGH_G_X_ENABLE__POS               (0)
#define BMI160_USER_INTR_ENABLE_1_HIGH_G_X_ENABLE__LEN               (1)
#define BMI160_USER_INTR_ENABLE_1_HIGH_G_X_ENABLE__MSK               (0x01)
#define BMI160_USER_INTR_ENABLE_1_HIGH_G_X_ENABLE__REG             \
(BMI160_USER_INTR_ENABLE_1_ADDR)

/* Int_En_1 Description - Reg Addr --> (0x51), Bit -->1 */
#define BMI160_USER_INTR_ENABLE_1_HIGH_G_Y_ENABLE__POS               (1)
#define BMI160_USER_INTR_ENABLE_1_HIGH_G_Y_ENABLE__LEN               (1)
#define BMI160_USER_INTR_ENABLE_1_HIGH_G_Y_ENABLE__MSK               (0x02)
#define BMI160_USER_INTR_ENABLE_1_HIGH_G_Y_ENABLE__REG             \
(BMI160_USER_INTR_ENABLE_1_ADDR)

/* Int_En_1 Description - Reg Addr --> (0x51), Bit -->2 */
#define BMI160_USER_INTR_ENABLE_1_HIGH_G_Z_ENABLE__POS               (2)
#define BMI160_USER_INTR_ENABLE_1_HIGH_G_Z_ENABLE__LEN               (1)
#define BMI160_USER_INTR_ENABLE_1_HIGH_G_Z_ENABLE__MSK               (0x04)
#define BMI160_USER_INTR_ENABLE_1_HIGH_G_Z_ENABLE__REG             \
(BMI160_USER_INTR_ENABLE_1_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_En_1 Description - Reg Addr --> (0x51), Bit -->3 */
#define BMI160_USER_INTR_ENABLE_1_LOW_G_ENABLE__POS               (3)
#define BMI160_USER_INTR_ENABLE_1_LOW_G_ENABLE__LEN               (1)
#define BMI160_USER_INTR_ENABLE_1_LOW_G_ENABLE__MSK               (0x08)
#define BMI160_USER_INTR_ENABLE_1_LOW_G_ENABLE__REG               \
(BMI160_USER_INTR_ENABLE_1_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_En_1 Description - Reg Addr --> (0x51), Bit -->4 */
#define BMI160_USER_INTR_ENABLE_1_DATA_RDY_ENABLE__POS               (4)
#define BMI160_USER_INTR_ENABLE_1_DATA_RDY_ENABLE__LEN               (1)
#define BMI160_USER_INTR_ENABLE_1_DATA_RDY_ENABLE__MSK               (0x10)
#define BMI160_USER_INTR_ENABLE_1_DATA_RDY_ENABLE__REG              \
(BMI160_USER_INTR_ENABLE_1_ADDR)

#ifdef FIFO_ENABLE
/**************************************************************/
/**************************************************************/
/* Int_En_1 Description - Reg Addr --> (0x51), Bit -->5 */
#define BMI160_USER_INTR_ENABLE_1_FIFO_FULL_ENABLE__POS               (5)
#define BMI160_USER_INTR_ENABLE_1_FIFO_FULL_ENABLE__LEN               (1)
#define BMI160_USER_INTR_ENABLE_1_FIFO_FULL_ENABLE__MSK               (0x20)
#define BMI160_USER_INTR_ENABLE_1_FIFO_FULL_ENABLE__REG               \
(BMI160_USER_INTR_ENABLE_1_ADDR)

/* Int_En_1 Description - Reg Addr --> (0x51), Bit -->6 */
#define BMI160_USER_INTR_ENABLE_1_FIFO_WM_ENABLE__POS               (6)
#define BMI160_USER_INTR_ENABLE_1_FIFO_WM_ENABLE__LEN               (1)
#define BMI160_USER_INTR_ENABLE_1_FIFO_WM_ENABLE__MSK               (0x40)
#define BMI160_USER_INTR_ENABLE_1_FIFO_WM_ENABLE__REG              \
(BMI160_USER_INTR_ENABLE_1_ADDR)
#endif
/**************************************************************/
/**************************************************************/
/* Int_En_2 Description - Reg Addr --> (0x52), Bit -->0 */
#define BMI160_USER_INTR_ENABLE_2_NOMOTION_X_ENABLE__POS               (0)
#define BMI160_USER_INTR_ENABLE_2_NOMOTION_X_ENABLE__LEN               (1)
#define BMI160_USER_INTR_ENABLE_2_NOMOTION_X_ENABLE__MSK               (0x01)
#define BMI160_USER_INTR_ENABLE_2_NOMOTION_X_ENABLE__REG          \
(BMI160_USER_INTR_ENABLE_2_ADDR)

/* Int_En_2 Description - Reg Addr --> (0x52), Bit -->1 */
#define BMI160_USER_INTR_ENABLE_2_NOMOTION_Y_ENABLE__POS               (1)
#define BMI160_USER_INTR_ENABLE_2_NOMOTION_Y_ENABLE__LEN               (1)
#define BMI160_USER_INTR_ENABLE_2_NOMOTION_Y_ENABLE__MSK               (0x02)
#define BMI160_USER_INTR_ENABLE_2_NOMOTION_Y_ENABLE__REG          \
(BMI160_USER_INTR_ENABLE_2_ADDR)

/* Int_En_2 Description - Reg Addr --> (0x52), Bit -->2 */
#define BMI160_USER_INTR_ENABLE_2_NOMOTION_Z_ENABLE__POS               (2)
#define BMI160_USER_INTR_ENABLE_2_NOMOTION_Z_ENABLE__LEN               (1)
#define BMI160_USER_INTR_ENABLE_2_NOMOTION_Z_ENABLE__MSK               (0x04)
#define BMI160_USER_INTR_ENABLE_2_NOMOTION_Z_ENABLE__REG          \
(BMI160_USER_INTR_ENABLE_2_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_En_2 Description - Reg Addr --> (0x52), Bit -->3 */
#define BMI160_USER_INTR_ENABLE_2_STEP_DETECTOR_ENABLE__POS               (3)
#define BMI160_USER_INTR_ENABLE_2_STEP_DETECTOR_ENABLE__LEN               (1)
#define BMI160_USER_INTR_ENABLE_2_STEP_DETECTOR_ENABLE__MSK               (0x08)
#define BMI160_USER_INTR_ENABLE_2_STEP_DETECTOR_ENABLE__REG       \
(BMI160_USER_INTR_ENABLE_2_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Out_Ctrl Description - Reg Addr --> 0x53, Bit -->0 */
#define BMI160_USER_INTR1_EDGE_CTRL__POS               (0)
#define BMI160_USER_INTR1_EDGE_CTRL__LEN               (1)
#define BMI160_USER_INTR1_EDGE_CTRL__MSK               (0x01)
#define BMI160_USER_INTR1_EDGE_CTRL__REG                \
(BMI160_USER_INTR_OUT_CTRL_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Out_Ctrl Description - Reg Addr --> 0x53, Bit -->1 */
#define BMI160_USER_INTR1_LEVEL__POS               (1)
#define BMI160_USER_INTR1_LEVEL__LEN               (1)
#define BMI160_USER_INTR1_LEVEL__MSK               (0x02)
#define BMI160_USER_INTR1_LEVEL__REG               \
(BMI160_USER_INTR_OUT_CTRL_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Out_Ctrl Description - Reg Addr --> 0x53, Bit -->2 */
#define BMI160_USER_INTR1_OUTPUT_TYPE__POS               (2)
#define BMI160_USER_INTR1_OUTPUT_TYPE__LEN               (1)
#define BMI160_USER_INTR1_OUTPUT_TYPE__MSK               (0x04)
#define BMI160_USER_INTR1_OUTPUT_TYPE__REG               \
(BMI160_USER_INTR_OUT_CTRL_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Out_Ctrl Description - Reg Addr --> 0x53, Bit -->3 */
#define BMI160_USER_INTR1_OUTPUT_ENABLE__POS               (3)
#define BMI160_USER_INTR1_OUTPUT_ENABLE__LEN               (1)
#define BMI160_USER_INTR1_OUTPUT_ENABLE__MSK               (0x08)
#define BMI160_USER_INTR1_OUTPUT_ENABLE__REG            \
(BMI160_USER_INTR_OUT_CTRL_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Out_Ctrl Description - Reg Addr --> 0x53, Bit -->4 */
#define BMI160_USER_INTR2_EDGE_CTRL__POS               (4)
#define BMI160_USER_INTR2_EDGE_CTRL__LEN               (1)
#define BMI160_USER_INTR2_EDGE_CTRL__MSK               (0x10)
#define BMI160_USER_INTR2_EDGE_CTRL__REG                \
(BMI160_USER_INTR_OUT_CTRL_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Out_Ctrl Description - Reg Addr --> 0x53, Bit -->5 */
#define BMI160_USER_INTR2_LEVEL__POS               (5)
#define BMI160_USER_INTR2_LEVEL__LEN               (1)
#define BMI160_USER_INTR2_LEVEL__MSK               (0x20)
#define BMI160_USER_INTR2_LEVEL__REG               \
(BMI160_USER_INTR_OUT_CTRL_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Out_Ctrl Description - Reg Addr --> 0x53, Bit -->6 */
#define BMI160_USER_INTR2_OUTPUT_TYPE__POS               (6)
#define BMI160_USER_INTR2_OUTPUT_TYPE__LEN               (1)
#define BMI160_USER_INTR2_OUTPUT_TYPE__MSK               (0x40)
#define BMI160_USER_INTR2_OUTPUT_TYPE__REG               \
(BMI160_USER_INTR_OUT_CTRL_ADDR)

/* Int_Out_Ctrl Description - Reg Addr --> 0x53, Bit -->7 */
#define BMI160_USER_INTR2_OUTPUT_EN__POS               (7)
#define BMI160_USER_INTR2_OUTPUT_EN__LEN               (1)
#define BMI160_USER_INTR2_OUTPUT_EN__MSK               (0x80)
#define BMI160_USER_INTR2_OUTPUT_EN__REG                \
(BMI160_USER_INTR_OUT_CTRL_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Latch Description - Reg Addr --> 0x54, Bit -->0...3 */
#define BMI160_USER_INTR_LATCH__POS               (0)
#define BMI160_USER_INTR_LATCH__LEN               (4)
#define BMI160_USER_INTR_LATCH__MSK               (0x0F)
#define BMI160_USER_INTR_LATCH__REG               (BMI160_USER_INTR_LATCH_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Latch Description - Reg Addr --> 0x54, Bit -->4 */
#define BMI160_USER_INTR1_INPUT_ENABLE__POS               (4)
#define BMI160_USER_INTR1_INPUT_ENABLE__LEN               (1)
#define BMI160_USER_INTR1_INPUT_ENABLE__MSK               (0x10)
#define BMI160_USER_INTR1_INPUT_ENABLE__REG               \
(BMI160_USER_INTR_LATCH_ADDR)

/* Int_Latch Description - Reg Addr --> 0x54, Bit -->5*/
#define BMI160_USER_INTR2_INPUT_ENABLE__POS               (5)
#define BMI160_USER_INTR2_INPUT_ENABLE__LEN               (1)
#define BMI160_USER_INTR2_INPUT_ENABLE__MSK               (0x20)
#define BMI160_USER_INTR2_INPUT_ENABLE__REG              \
(BMI160_USER_INTR_LATCH_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Map_0 Description - Reg Addr --> 0x55, Bit -->0 */
#define BMI160_USER_INTR_MAP_0_INTR1_LOW_G__POS               (0)
#define BMI160_USER_INTR_MAP_0_INTR1_LOW_G__LEN               (1)
#define BMI160_USER_INTR_MAP_0_INTR1_LOW_G__MSK               (0x01)
#define BMI160_USER_INTR_MAP_0_INTR1_LOW_G__REG (BMI160_USER_INTR_MAP_0_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Map_0 Description - Reg Addr --> 0x55, Bit -->1 */
#define BMI160_USER_INTR_MAP_0_INTR1_HIGH_G__POS               (1)
#define BMI160_USER_INTR_MAP_0_INTR1_HIGH_G__LEN               (1)
#define BMI160_USER_INTR_MAP_0_INTR1_HIGH_G__MSK               (0x02)
#define BMI160_USER_INTR_MAP_0_INTR1_HIGH_G__REG        \
(BMI160_USER_INTR_MAP_0_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Map_0 Description - Reg Addr --> 0x55, Bit -->2 */
#define BMI160_USER_INTR_MAP_0_INTR1_ANY_MOTION__POS               (2)
#define BMI160_USER_INTR_MAP_0_INTR1_ANY_MOTION__LEN               (1)
#define BMI160_USER_INTR_MAP_0_INTR1_ANY_MOTION__MSK               (0x04)
#define BMI160_USER_INTR_MAP_0_INTR1_ANY_MOTION__REG            \
(BMI160_USER_INTR_MAP_0_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Map_0 Description - Reg Addr --> 0x55, Bit -->3 */
#define BMI160_USER_INTR_MAP_0_INTR1_NOMOTION__POS               (3)
#define BMI160_USER_INTR_MAP_0_INTR1_NOMOTION__LEN               (1)
#define BMI160_USER_INTR_MAP_0_INTR1_NOMOTION__MSK               (0x08)
#define BMI160_USER_INTR_MAP_0_INTR1_NOMOTION__REG (BMI160_USER_INTR_MAP_0_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Map_0 Description - Reg Addr --> 0x55, Bit -->4 */
#define BMI160_USER_INTR_MAP_0_INTR1_DOUBLE_TAP__POS               (4)
#define BMI160_USER_INTR_MAP_0_INTR1_DOUBLE_TAP__LEN               (1)
#define BMI160_USER_INTR_MAP_0_INTR1_DOUBLE_TAP__MSK               (0x10)
#define BMI160_USER_INTR_MAP_0_INTR1_DOUBLE_TAP__REG    \
(BMI160_USER_INTR_MAP_0_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Map_0 Description - Reg Addr --> 0x55, Bit -->5 */
#define BMI160_USER_INTR_MAP_0_INTR1_SINGLE_TAP__POS               (5)
#define BMI160_USER_INTR_MAP_0_INTR1_SINGLE_TAP__LEN               (1)
#define BMI160_USER_INTR_MAP_0_INTR1_SINGLE_TAP__MSK               (0x20)
#define BMI160_USER_INTR_MAP_0_INTR1_SINGLE_TAP__REG          \
(BMI160_USER_INTR_MAP_0_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Map_0 Description - Reg Addr --> 0x55, Bit -->6 */
#define BMI160_USER_INTR_MAP_0_INTR1_ORIENT__POS               (6)
#define BMI160_USER_INTR_MAP_0_INTR1_ORIENT__LEN               (1)
#define BMI160_USER_INTR_MAP_0_INTR1_ORIENT__MSK               (0x40)
#define BMI160_USER_INTR_MAP_0_INTR1_ORIENT__REG                  \
(BMI160_USER_INTR_MAP_0_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Map_0 Description - Reg Addr --> 0x56, Bit -->7 */
#define BMI160_USER_INTR_MAP_0_INTR1_FLAT__POS               (7)
#define BMI160_USER_INTR_MAP_0_INTR1_FLAT__LEN               (1)
#define BMI160_USER_INTR_MAP_0_INTR1_FLAT__MSK               (0x80)
#define BMI160_USER_INTR_MAP_0_INTR1_FLAT__REG  (BMI160_USER_INTR_MAP_0_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Map_1 Description - Reg Addr --> 0x56, Bit -->0 */
#define BMI160_USER_INTR_MAP_1_INTR2_PMU_TRIG__POS               (0)
#define BMI160_USER_INTR_MAP_1_INTR2_PMU_TRIG__LEN               (1)
#define BMI160_USER_INTR_MAP_1_INTR2_PMU_TRIG__MSK               (0x01)
#define BMI160_USER_INTR_MAP_1_INTR2_PMU_TRIG__REG (BMI160_USER_INTR_MAP_1_ADDR)

#ifdef FIFO_ENABLE
/**************************************************************/
/**************************************************************/

/* Int_Map_1 Description - Reg Addr --> 0x56, Bit -->1 */
#define BMI160_USER_INTR_MAP_1_INTR2_FIFO_FULL__POS               (1)
#define BMI160_USER_INTR_MAP_1_INTR2_FIFO_FULL__LEN               (1)
#define BMI160_USER_INTR_MAP_1_INTR2_FIFO_FULL__MSK               (0x02)
#define BMI160_USER_INTR_MAP_1_INTR2_FIFO_FULL__REG              \
(BMI160_USER_INTR_MAP_1_ADDR)

/* Int_Map_1 Description - Reg Addr --> 0x56, Bit -->2 */
#define BMI160_USER_INTR_MAP_1_INTR2_FIFO_WM__POS               (2)
#define BMI160_USER_INTR_MAP_1_INTR2_FIFO_WM__LEN               (1)
#define BMI160_USER_INTR_MAP_1_INTR2_FIFO_WM__MSK               (0x04)
#define BMI160_USER_INTR_MAP_1_INTR2_FIFO_WM__REG                \
(BMI160_USER_INTR_MAP_1_ADDR)
#endif
/**************************************************************/
/**************************************************************/
/* Int_Map_1 Description - Reg Addr --> 0x56, Bit -->3 */
#define BMI160_USER_INTR_MAP_1_INTR2_DATA_RDY__POS               (3)
#define BMI160_USER_INTR_MAP_1_INTR2_DATA_RDY__LEN               (1)
#define BMI160_USER_INTR_MAP_1_INTR2_DATA_RDY__MSK               (0x08)
#define BMI160_USER_INTR_MAP_1_INTR2_DATA_RDY__REG            \
(BMI160_USER_INTR_MAP_1_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Map_1 Description - Reg Addr --> 0x56, Bit -->4 */
#define BMI160_USER_INTR_MAP_1_INTR1_PMU_TRIG__POS               (4)
#define BMI160_USER_INTR_MAP_1_INTR1_PMU_TRIG__LEN               (1)
#define BMI160_USER_INTR_MAP_1_INTR1_PMU_TRIG__MSK               (0x10)
#define BMI160_USER_INTR_MAP_1_INTR1_PMU_TRIG__REG (BMI160_USER_INTR_MAP_1_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Map_1 Description - Reg Addr --> 0x56, Bit -->5 */
#define BMI160_USER_INTR_MAP_1_INTR1_FIFO_FULL__POS               (5)
#define BMI160_USER_INTR_MAP_1_INTR1_FIFO_FULL__LEN               (1)
#define BMI160_USER_INTR_MAP_1_INTR1_FIFO_FULL__MSK               (0x20)
#define BMI160_USER_INTR_MAP_1_INTR1_FIFO_FULL__REG            \
(BMI160_USER_INTR_MAP_1_ADDR)

/* Int_Map_1 Description - Reg Addr --> 0x56, Bit -->6 */
#define BMI160_USER_INTR_MAP_1_INTR1_FIFO_WM__POS               (6)
#define BMI160_USER_INTR_MAP_1_INTR1_FIFO_WM__LEN               (1)
#define BMI160_USER_INTR_MAP_1_INTR1_FIFO_WM__MSK               (0x40)
#define BMI160_USER_INTR_MAP_1_INTR1_FIFO_WM__REG       \
(BMI160_USER_INTR_MAP_1_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Map_1 Description - Reg Addr --> 0x56, Bit -->7 */
#define BMI160_USER_INTR_MAP_1_INTR1_DATA_RDY__POS               (7)
#define BMI160_USER_INTR_MAP_1_INTR1_DATA_RDY__LEN               (1)
#define BMI160_USER_INTR_MAP_1_INTR1_DATA_RDY__MSK               (0x80)
#define BMI160_USER_INTR_MAP_1_INTR1_DATA_RDY__REG      \
(BMI160_USER_INTR_MAP_1_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Map_2 Description - Reg Addr --> 0x57, Bit -->0 */
#define BMI160_USER_INTR_MAP_2_INTR2_LOW_G__POS               (0)
#define BMI160_USER_INTR_MAP_2_INTR2_LOW_G__LEN               (1)
#define BMI160_USER_INTR_MAP_2_INTR2_LOW_G__MSK               (0x01)
#define BMI160_USER_INTR_MAP_2_INTR2_LOW_G__REG (BMI160_USER_INTR_MAP_2_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Map_2 Description - Reg Addr --> 0x57, Bit -->1 */
#define BMI160_USER_INTR_MAP_2_INTR2_HIGH_G__POS               (1)
#define BMI160_USER_INTR_MAP_2_INTR2_HIGH_G__LEN               (1)
#define BMI160_USER_INTR_MAP_2_INTR2_HIGH_G__MSK               (0x02)
#define BMI160_USER_INTR_MAP_2_INTR2_HIGH_G__REG        \
(BMI160_USER_INTR_MAP_2_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Map_2 Description - Reg Addr --> 0x57, Bit -->2 */
#define BMI160_USER_INTR_MAP_2_INTR2_ANY_MOTION__POS      (2)
#define BMI160_USER_INTR_MAP_2_INTR2_ANY_MOTION__LEN      (1)
#define BMI160_USER_INTR_MAP_2_INTR2_ANY_MOTION__MSK     (0x04)
#define BMI160_USER_INTR_MAP_2_INTR2_ANY_MOTION__REG     \
(BMI160_USER_INTR_MAP_2_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Map_2 Description - Reg Addr --> 0x57, Bit -->3 */
#define BMI160_USER_INTR_MAP_2_INTR2_NOMOTION__POS               (3)
#define BMI160_USER_INTR_MAP_2_INTR2_NOMOTION__LEN               (1)
#define BMI160_USER_INTR_MAP_2_INTR2_NOMOTION__MSK               (0x08)
#define BMI160_USER_INTR_MAP_2_INTR2_NOMOTION__REG (BMI160_USER_INTR_MAP_2_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Map_2 Description - Reg Addr --> 0x57, Bit -->4 */
#define BMI160_USER_INTR_MAP_2_INTR2_DOUBLE_TAP__POS               (4)
#define BMI160_USER_INTR_MAP_2_INTR2_DOUBLE_TAP__LEN               (1)
#define BMI160_USER_INTR_MAP_2_INTR2_DOUBLE_TAP__MSK               (0x10)
#define BMI160_USER_INTR_MAP_2_INTR2_DOUBLE_TAP__REG    \
(BMI160_USER_INTR_MAP_2_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Map_2 Description - Reg Addr --> 0x57, Bit -->5 */
#define BMI160_USER_INTR_MAP_2_INTR2_SINGLE_TAP__POS               (5)
#define BMI160_USER_INTR_MAP_2_INTR2_SINGLE_TAP__LEN               (1)
#define BMI160_USER_INTR_MAP_2_INTR2_SINGLE_TAP__MSK               (0x20)
#define BMI160_USER_INTR_MAP_2_INTR2_SINGLE_TAP__REG    \
(BMI160_USER_INTR_MAP_2_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Map_2 Description - Reg Addr --> 0x57, Bit -->6 */
#define BMI160_USER_INTR_MAP_2_INTR2_ORIENT__POS               (6)
#define BMI160_USER_INTR_MAP_2_INTR2_ORIENT__LEN               (1)
#define BMI160_USER_INTR_MAP_2_INTR2_ORIENT__MSK               (0x40)
#define BMI160_USER_INTR_MAP_2_INTR2_ORIENT__REG        \
(BMI160_USER_INTR_MAP_2_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Map_2 Description - Reg Addr --> 0x57, Bit -->7 */
#define BMI160_USER_INTR_MAP_2_INTR2_FLAT__POS               (7)
#define BMI160_USER_INTR_MAP_2_INTR2_FLAT__LEN               (1)
#define BMI160_USER_INTR_MAP_2_INTR2_FLAT__MSK               (0x80)
#define BMI160_USER_INTR_MAP_2_INTR2_FLAT__REG  (BMI160_USER_INTR_MAP_2_ADDR)

/**************************************************************/
/**************************************************************/
/* Int_Data_0 Description - Reg Addr --> 0x58, Bit --> 3 */
#define BMI160_USER_INTR_DATA_0_INTR_TAP_SOURCE__POS               (3)
#define BMI160_USER_INTR_DATA_0_INTR_TAP_SOURCE__LEN               (1)
#define BMI160_USER_INTR_DATA_0_INTR_TAP_SOURCE__MSK               (0x08)
#define BMI160_USER_INTR_DATA_0_INTR_TAP_SOURCE__REG               \
(BMI160_USER_INTR_DATA_0_ADDR)

/**************************************************************/
/**************************************************************/
/* Int_Data_0 Description - Reg Addr --> 0x58, Bit --> 7 */
#define BMI160_USER_INTR_DATA_0_INTR_LOW_HIGH_SOURCE__POS           (7)
#define BMI160_USER_INTR_DATA_0_INTR_LOW_HIGH_SOURCE__LEN           (1)
#define BMI160_USER_INTR_DATA_0_INTR_LOW_HIGH_SOURCE__MSK           (0x80)
#define BMI160_USER_INTR_DATA_0_INTR_LOW_HIGH_SOURCE__REG            \
(BMI160_USER_INTR_DATA_0_ADDR)

/**************************************************************/
/**************************************************************/
/* Int_Data_1 Description - Reg Addr --> 0x59, Bit --> 7 */
#define BMI160_USER_INTR_DATA_1_INTR_MOTION_SOURCE__POS               (7)
#define BMI160_USER_INTR_DATA_1_INTR_MOTION_SOURCE__LEN               (1)
#define BMI160_USER_INTR_DATA_1_INTR_MOTION_SOURCE__MSK               (0x80)
#define BMI160_USER_INTR_DATA_1_INTR_MOTION_SOURCE__REG               \
                (BMI160_USER_INTR_DATA_1_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_LowHigh_0 Description - Reg Addr --> 0x5a, Bit --> 0...7 */
#define BMI160_USER_INTR_LOWHIGH_0_INTR_LOW_DURN__POS               (0)
#define BMI160_USER_INTR_LOWHIGH_0_INTR_LOW_DURN__LEN               (8)
#define BMI160_USER_INTR_LOWHIGH_0_INTR_LOW_DURN__MSK               (0xFF)
#define BMI160_USER_INTR_LOWHIGH_0_INTR_LOW_DURN__REG               \
                (BMI160_USER_INTR_LOWHIGH_0_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_LowHigh_1 Description - Reg Addr --> 0x5b, Bit --> 0...7 */
#define BMI160_USER_INTR_LOWHIGH_1_INTR_LOW_THRES__POS               (0)
#define BMI160_USER_INTR_LOWHIGH_1_INTR_LOW_THRES__LEN               (8)
#define BMI160_USER_INTR_LOWHIGH_1_INTR_LOW_THRES__MSK               (0xFF)
#define BMI160_USER_INTR_LOWHIGH_1_INTR_LOW_THRES__REG               \
                (BMI160_USER_INTR_LOWHIGH_1_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_LowHigh_2 Description - Reg Addr --> 0x5c, Bit --> 0...1 */
#define BMI160_USER_INTR_LOWHIGH_2_INTR_LOW_G_HYST__POS               (0)
#define BMI160_USER_INTR_LOWHIGH_2_INTR_LOW_G_HYST__LEN               (2)
#define BMI160_USER_INTR_LOWHIGH_2_INTR_LOW_G_HYST__MSK               (0x03)
#define BMI160_USER_INTR_LOWHIGH_2_INTR_LOW_G_HYST__REG               \
                (BMI160_USER_INTR_LOWHIGH_2_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_LowHigh_2 Description - Reg Addr --> 0x5c, Bit --> 2 */
#define BMI160_USER_INTR_LOWHIGH_2_INTR_LOW_G_MODE__POS               (2)
#define BMI160_USER_INTR_LOWHIGH_2_INTR_LOW_G_MODE__LEN               (1)
#define BMI160_USER_INTR_LOWHIGH_2_INTR_LOW_G_MODE__MSK               (0x04)
#define BMI160_USER_INTR_LOWHIGH_2_INTR_LOW_G_MODE__REG               \
                (BMI160_USER_INTR_LOWHIGH_2_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_LowHigh_2 Description - Reg Addr --> 0x5c, Bit --> 6...7 */
#define BMI160_USER_INTR_LOWHIGH_2_INTR_HIGH_G_HYST__POS               (6)
#define BMI160_USER_INTR_LOWHIGH_2_INTR_HIGH_G_HYST__LEN               (2)
#define BMI160_USER_INTR_LOWHIGH_2_INTR_HIGH_G_HYST__MSK               (0xC0)
#define BMI160_USER_INTR_LOWHIGH_2_INTR_HIGH_G_HYST__REG               \
                (BMI160_USER_INTR_LOWHIGH_2_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_LowHigh_3 Description - Reg Addr --> 0x5d, Bit --> 0...7 */
#define BMI160_USER_INTR_LOWHIGH_3_INTR_HIGH_G_DURN__POS               (0)
#define BMI160_USER_INTR_LOWHIGH_3_INTR_HIGH_G_DURN__LEN               (8)
#define BMI160_USER_INTR_LOWHIGH_3_INTR_HIGH_G_DURN__MSK               (0xFF)
#define BMI160_USER_INTR_LOWHIGH_3_INTR_HIGH_G_DURN__REG               \
                (BMI160_USER_INTR_LOWHIGH_3_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_LowHigh_4 Description - Reg Addr --> 0x5e, Bit --> 0...7 */
#define BMI160_USER_INTR_LOWHIGH_4_INTR_HIGH_THRES__POS               (0)
#define BMI160_USER_INTR_LOWHIGH_4_INTR_HIGH_THRES__LEN               (8)
#define BMI160_USER_INTR_LOWHIGH_4_INTR_HIGH_THRES__MSK               (0xFF)
#define BMI160_USER_INTR_LOWHIGH_4_INTR_HIGH_THRES__REG               \
                (BMI160_USER_INTR_LOWHIGH_4_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Motion_0 Description - Reg Addr --> 0x5f, Bit --> 0...1 */
#define BMI160_USER_INTR_MOTION_0_INTR_ANY_MOTION_DURN__POS               (0)
#define BMI160_USER_INTR_MOTION_0_INTR_ANY_MOTION_DURN__LEN               (2)
#define BMI160_USER_INTR_MOTION_0_INTR_ANY_MOTION_DURN__MSK               (0x03)
#define BMI160_USER_INTR_MOTION_0_INTR_ANY_MOTION_DURN__REG               \
                (BMI160_USER_INTR_MOTION_0_ADDR)
/**************************************************************/
/**************************************************************/
        /* Int_Motion_0 Description - Reg Addr --> 0x5f, Bit --> 2...7 */
#define BMI160_USER_INTR_MOTION_0_INTR_SLOW_NO_MOTION_DURN__POS      (2)
#define BMI160_USER_INTR_MOTION_0_INTR_SLOW_NO_MOTION_DURN__LEN      (6)
#define BMI160_USER_INTR_MOTION_0_INTR_SLOW_NO_MOTION_DURN__MSK      (0xFC)
#define BMI160_USER_INTR_MOTION_0_INTR_SLOW_NO_MOTION_DURN__REG       \
                (BMI160_USER_INTR_MOTION_0_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Motion_1 Description - Reg Addr --> (0x60), Bit --> 0...7 */
#define BMI160_USER_INTR_MOTION_1_INTR_ANY_MOTION_THRES__POS      (0)
#define BMI160_USER_INTR_MOTION_1_INTR_ANY_MOTION_THRES__LEN      (8)
#define BMI160_USER_INTR_MOTION_1_INTR_ANY_MOTION_THRES__MSK      (0xFF)
#define BMI160_USER_INTR_MOTION_1_INTR_ANY_MOTION_THRES__REG               \
                (BMI160_USER_INTR_MOTION_1_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Motion_2 Description - Reg Addr --> 0x61, Bit --> 0...7 */
#define BMI160_USER_INTR_MOTION_2_INTR_SLOW_NO_MOTION_THRES__POS       (0)
#define BMI160_USER_INTR_MOTION_2_INTR_SLOW_NO_MOTION_THRES__LEN       (8)
#define BMI160_USER_INTR_MOTION_2_INTR_SLOW_NO_MOTION_THRES__MSK       (0xFF)
#define BMI160_USER_INTR_MOTION_2_INTR_SLOW_NO_MOTION_THRES__REG       \
                (BMI160_USER_INTR_MOTION_2_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Motion_3 Description - Reg Addr --> (0x62), Bit --> 0 */
#define BMI160_USER_INTR_MOTION_3_INTR_SLOW_NO_MOTION_SELECT__POS       (0)
#define BMI160_USER_INTR_MOTION_3_INTR_SLOW_NO_MOTION_SELECT__LEN       (1)
#define BMI160_USER_INTR_MOTION_3_INTR_SLOW_NO_MOTION_SELECT__MSK       (0x01)
#define BMI160_USER_INTR_MOTION_3_INTR_SLOW_NO_MOTION_SELECT__REG   \
(BMI160_USER_INTR_MOTION_3_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Motion_3 Description - Reg Addr --> (0x62), Bit --> 1 */
#define BMI160_USER_INTR_SIGNIFICATION_MOTION_SELECT__POS               (1)
#define BMI160_USER_INTR_SIGNIFICATION_MOTION_SELECT__LEN               (1)
#define BMI160_USER_INTR_SIGNIFICATION_MOTION_SELECT__MSK               (0x02)
#define BMI160_USER_INTR_SIGNIFICATION_MOTION_SELECT__REG               \
                (BMI160_USER_INTR_MOTION_3_ADDR)

/* Int_Motion_3 Description - Reg Addr --> (0x62), Bit --> 3..2 */
#define BMI160_USER_INTR_SIGNIFICANT_MOTION_SKIP__POS           (2)
#define BMI160_USER_INTR_SIGNIFICANT_MOTION_SKIP__LEN           (2)
#define BMI160_USER_INTR_SIGNIFICANT_MOTION_SKIP__MSK           (0x0C)
#define BMI160_USER_INTR_SIGNIFICANT_MOTION_SKIP__REG           \
                (BMI160_USER_INTR_MOTION_3_ADDR)

/* Int_Motion_3 Description - Reg Addr --> (0x62), Bit --> 5..4 */
#define BMI160_USER_INTR_SIGNIFICANT_MOTION_PROOF__POS          (4)
#define BMI160_USER_INTR_SIGNIFICANT_MOTION_PROOF__LEN          (2)
#define BMI160_USER_INTR_SIGNIFICANT_MOTION_PROOF__MSK          (0x30)
#define BMI160_USER_INTR_SIGNIFICANT_MOTION_PROOF__REG          \
                (BMI160_USER_INTR_MOTION_3_ADDR)
/**************************************************************/
/**************************************************************/
/* INT_TAP_0 Description - Reg Addr --> (0x63), Bit --> 0..2*/
#define BMI160_USER_INTR_TAP_0_INTR_TAP_DURN__POS               (0)
#define BMI160_USER_INTR_TAP_0_INTR_TAP_DURN__LEN               (3)
#define BMI160_USER_INTR_TAP_0_INTR_TAP_DURN__MSK               (0x07)
#define BMI160_USER_INTR_TAP_0_INTR_TAP_DURN__REG       \
(BMI160_USER_INTR_TAP_0_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Tap_0 Description - Reg Addr --> (0x63), Bit --> 6 */
#define BMI160_USER_INTR_TAP_0_INTR_TAP_SHOCK__POS               (6)
#define BMI160_USER_INTR_TAP_0_INTR_TAP_SHOCK__LEN               (1)
#define BMI160_USER_INTR_TAP_0_INTR_TAP_SHOCK__MSK               (0x40)
#define BMI160_USER_INTR_TAP_0_INTR_TAP_SHOCK__REG (BMI160_USER_INTR_TAP_0_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Tap_0 Description - Reg Addr --> (0x63), Bit --> 7 */
#define BMI160_USER_INTR_TAP_0_INTR_TAP_QUIET__POS               (7)
#define BMI160_USER_INTR_TAP_0_INTR_TAP_QUIET__LEN               (1)
#define BMI160_USER_INTR_TAP_0_INTR_TAP_QUIET__MSK               (0x80)
#define BMI160_USER_INTR_TAP_0_INTR_TAP_QUIET__REG (BMI160_USER_INTR_TAP_0_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Tap_1 Description - Reg Addr --> (0x64), Bit --> 0...4 */
#define BMI160_USER_INTR_TAP_1_INTR_TAP_THRES__POS               (0)
#define BMI160_USER_INTR_TAP_1_INTR_TAP_THRES__LEN               (5)
#define BMI160_USER_INTR_TAP_1_INTR_TAP_THRES__MSK               (0x1F)
#define BMI160_USER_INTR_TAP_1_INTR_TAP_THRES__REG (BMI160_USER_INTR_TAP_1_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Orient_0 Description - Reg Addr --> (0x65), Bit --> 0...1 */
#define BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_MODE__POS               (0)
#define BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_MODE__LEN               (2)
#define BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_MODE__MSK               (0x03)
#define BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_MODE__REG               \
                (BMI160_USER_INTR_ORIENT_0_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Orient_0 Description - Reg Addr --> (0x65), Bit --> 2...3 */
#define BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_BLOCKING__POS               (2)
#define BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_BLOCKING__LEN               (2)
#define BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_BLOCKING__MSK               (0x0C)
#define BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_BLOCKING__REG               \
                (BMI160_USER_INTR_ORIENT_0_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Orient_0 Description - Reg Addr --> (0x65), Bit --> 4...7 */
#define BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_HYST__POS               (4)
#define BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_HYST__LEN               (4)
#define BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_HYST__MSK               (0xF0)
#define BMI160_USER_INTR_ORIENT_0_INTR_ORIENT_HYST__REG               \
                (BMI160_USER_INTR_ORIENT_0_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Orient_1 Description - Reg Addr --> 0x66, Bit --> 0...5 */
#define BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_THETA__POS               (0)
#define BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_THETA__LEN               (6)
#define BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_THETA__MSK               (0x3F)
#define BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_THETA__REG               \
                (BMI160_USER_INTR_ORIENT_1_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Orient_1 Description - Reg Addr --> 0x66, Bit --> 6 */
#define BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_UD_ENABLE__POS         (6)
#define BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_UD_ENABLE__LEN         (1)
#define BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_UD_ENABLE__MSK         (0x40)
#define BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_UD_ENABLE__REG          \
                (BMI160_USER_INTR_ORIENT_1_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Orient_1 Description - Reg Addr --> 0x66, Bit --> 7 */
#define BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_AXES_EX__POS               (7)
#define BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_AXES_EX__LEN               (1)
#define BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_AXES_EX__MSK               (0x80)
#define BMI160_USER_INTR_ORIENT_1_INTR_ORIENT_AXES_EX__REG               \
                (BMI160_USER_INTR_ORIENT_1_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Flat_0 Description - Reg Addr --> 0x67, Bit --> 0...5 */
#define BMI160_USER_INTR_FLAT_0_INTR_FLAT_THETA__POS               (0)
#define BMI160_USER_INTR_FLAT_0_INTR_FLAT_THETA__LEN               (6)
#define BMI160_USER_INTR_FLAT_0_INTR_FLAT_THETA__MSK               (0x3F)
#define BMI160_USER_INTR_FLAT_0_INTR_FLAT_THETA__REG  \
                (BMI160_USER_INTR_FLAT_0_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Flat_1 Description - Reg Addr --> (0x68), Bit --> 0...3 */
#define BMI160_USER_INTR_FLAT_1_INTR_FLAT_HYST__POS             (0)
#define BMI160_USER_INTR_FLAT_1_INTR_FLAT_HYST__LEN             (4)
#define BMI160_USER_INTR_FLAT_1_INTR_FLAT_HYST__MSK             (0x0F)
#define BMI160_USER_INTR_FLAT_1_INTR_FLAT_HYST__REG      \
(BMI160_USER_INTR_FLAT_1_ADDR)
/**************************************************************/
/**************************************************************/
/* Int_Flat_1 Description - Reg Addr --> (0x68), Bit --> 4...5 */
#define BMI160_USER_INTR_FLAT_1_INTR_FLAT_HOLD__POS                (4)
#define BMI160_USER_INTR_FLAT_1_INTR_FLAT_HOLD__LEN                (2)
#define BMI160_USER_INTR_FLAT_1_INTR_FLAT_HOLD__MSK                (0x30)
#define BMI160_USER_INTR_FLAT_1_INTR_FLAT_HOLD__REG  \
(BMI160_USER_INTR_FLAT_1_ADDR)
/**************************************************************/
/**************************************************************/
/* Foc_Conf Description - Reg Addr --> (0x69), Bit --> 0...1 */
#define BMI160_USER_FOC_ACCEL_Z__POS               (0)
#define BMI160_USER_FOC_ACCEL_Z__LEN               (2)
#define BMI160_USER_FOC_ACCEL_Z__MSK               (0x03)
#define BMI160_USER_FOC_ACCEL_Z__REG               (BMI160_USER_FOC_CONFIG_ADDR)

/* Foc_Conf Description - Reg Addr --> (0x69), Bit --> 2...3 */
#define BMI160_USER_FOC_ACCEL_Y__POS               (2)
#define BMI160_USER_FOC_ACCEL_Y__LEN               (2)
#define BMI160_USER_FOC_ACCEL_Y__MSK               (0x0C)
#define BMI160_USER_FOC_ACCEL_Y__REG               (BMI160_USER_FOC_CONFIG_ADDR)

/* Foc_Conf Description - Reg Addr --> (0x69), Bit --> 4...5 */
#define BMI160_USER_FOC_ACCEL_X__POS               (4)
#define BMI160_USER_FOC_ACCEL_X__LEN               (2)
#define BMI160_USER_FOC_ACCEL_X__MSK               (0x30)
#define BMI160_USER_FOC_ACCEL_X__REG               (BMI160_USER_FOC_CONFIG_ADDR)
/**************************************************************/
/**************************************************************/
/* Foc_Conf Description - Reg Addr --> (0x69), Bit --> 6 */
#define BMI160_USER_FOC_GYRO_ENABLE__POS               (6)
#define BMI160_USER_FOC_GYRO_ENABLE__LEN               (1)
#define BMI160_USER_FOC_GYRO_ENABLE__MSK               (0x40)
#define BMI160_USER_FOC_GYRO_ENABLE__REG               \
(BMI160_USER_FOC_CONFIG_ADDR)
/**************************************************************/
/**************************************************************/
/* CONF Description - Reg Addr --> (0x6A), Bit --> 1 */
#define BMI160_USER_CONFIG_NVM_PROG_ENABLE__POS               (1)
#define BMI160_USER_CONFIG_NVM_PROG_ENABLE__LEN               (1)
#define BMI160_USER_CONFIG_NVM_PROG_ENABLE__MSK               (0x02)
#define BMI160_USER_CONFIG_NVM_PROG_ENABLE__REG               \
(BMI160_USER_CONFIG_ADDR)

/*IF_CONF Description - Reg Addr --> (0x6B), Bit --> 0 */

#define BMI160_USER_IF_CONFIG_SPI3__POS               (0)
#define BMI160_USER_IF_CONFIG_SPI3__LEN               (1)
#define BMI160_USER_IF_CONFIG_SPI3__MSK               (0x01)
#define BMI160_USER_IF_CONFIG_SPI3__REG               \
(BMI160_USER_IF_CONFIG_ADDR)

/*IF_CONF Description - Reg Addr --> (0x6B), Bit --> 5..4 */
#define BMI160_USER_IF_CONFIG_IF_MODE__POS               (4)
#define BMI160_USER_IF_CONFIG_IF_MODE__LEN               (2)
#define BMI160_USER_IF_CONFIG_IF_MODE__MSK               (0x30)
#define BMI160_USER_IF_CONFIG_IF_MODE__REG              \
(BMI160_USER_IF_CONFIG_ADDR)
/**************************************************************/
/**************************************************************/
/* Pmu_Trigger Description - Reg Addr --> 0x6c, Bit --> 0...2 */
#define BMI160_USER_GYRO_SLEEP_TRIGGER__POS               (0)
#define BMI160_USER_GYRO_SLEEP_TRIGGER__LEN               (3)
#define BMI160_USER_GYRO_SLEEP_TRIGGER__MSK               (0x07)
#define BMI160_USER_GYRO_SLEEP_TRIGGER__REG     (BMI160_USER_PMU_TRIGGER_ADDR)

/* Pmu_Trigger Description - Reg Addr --> 0x6c, Bit --> 3...4 */
#define BMI160_USER_GYRO_WAKEUP_TRIGGER__POS               (3)
#define BMI160_USER_GYRO_WAKEUP_TRIGGER__LEN               (2)
#define BMI160_USER_GYRO_WAKEUP_TRIGGER__MSK               (0x18)
#define BMI160_USER_GYRO_WAKEUP_TRIGGER__REG    (BMI160_USER_PMU_TRIGGER_ADDR)

/* Pmu_Trigger Description - Reg Addr --> 0x6c, Bit --> 5 */
#define BMI160_USER_GYRO_SLEEP_STATE__POS               (5)
#define BMI160_USER_GYRO_SLEEP_STATE__LEN               (1)
#define BMI160_USER_GYRO_SLEEP_STATE__MSK               (0x20)
#define BMI160_USER_GYRO_SLEEP_STATE__REG       (BMI160_USER_PMU_TRIGGER_ADDR)

/* Pmu_Trigger Description - Reg Addr --> 0x6c, Bit --> 6 */
#define BMI160_USER_GYRO_WAKEUP_INTR__POS               (6)
#define BMI160_USER_GYRO_WAKEUP_INTR__LEN               (1)
#define BMI160_USER_GYRO_WAKEUP_INTR__MSK               (0x40)
#define BMI160_USER_GYRO_WAKEUP_INTR__REG       (BMI160_USER_PMU_TRIGGER_ADDR)
/**************************************************************/
/**************************************************************/
/* Self_Test Description - Reg Addr --> 0x6d, Bit --> 0...1 */
#define BMI160_USER_ACCEL_SELFTEST_AXIS__POS               (0)
#define BMI160_USER_ACCEL_SELFTEST_AXIS__LEN               (2)
#define BMI160_USER_ACCEL_SELFTEST_AXIS__MSK               (0x03)
#define BMI160_USER_ACCEL_SELFTEST_AXIS__REG    (BMI160_USER_SELF_TEST_ADDR)

/* Self_Test Description - Reg Addr --> 0x6d, Bit --> 2 */
#define BMI160_USER_ACCEL_SELFTEST_SIGN__POS               (2)
#define BMI160_USER_ACCEL_SELFTEST_SIGN__LEN               (1)
#define BMI160_USER_ACCEL_SELFTEST_SIGN__MSK               (0x04)
#define BMI160_USER_ACCEL_SELFTEST_SIGN__REG    (BMI160_USER_SELF_TEST_ADDR)

/* Self_Test Description - Reg Addr --> 0x6d, Bit --> 3 */
#define BMI160_USER_SELFTEST_AMP__POS               (3)
#define BMI160_USER_SELFTEST_AMP__LEN               (1)
#define BMI160_USER_SELFTEST_AMP__MSK               (0x08)
#define BMI160_USER_SELFTEST_AMP__REG           (BMI160_USER_SELF_TEST_ADDR)
/**************************************************************/
/**************************************************************/
/* Self_Test Description - Reg Addr --> 0x6d, Bit --> 4 */
#define BMI160_USER_GYRO_SELFTEST_START__POS               (4)
#define BMI160_USER_GYRO_SELFTEST_START__LEN               (1)
#define BMI160_USER_GYRO_SELFTEST_START__MSK               (0x10)
#define BMI160_USER_GYRO_SELFTEST_START__REG                \
(BMI160_USER_SELF_TEST_ADDR)
/**************************************************************/
/**************************************************************/
/* NV_CONF Description - Reg Addr --> (0x70), Bit --> 0 */
#define BMI160_USER_NV_CONFIG_SPI_ENABLE__POS               (0)
#define BMI160_USER_NV_CONFIG_SPI_ENABLE__LEN               (1)
#define BMI160_USER_NV_CONFIG_SPI_ENABLE__MSK               (0x01)
#define BMI160_USER_NV_CONFIG_SPI_ENABLE__REG    (BMI160_USER_NV_CONFIG_ADDR)

/*IF_CONF Description - Reg Addr --> (0x70), Bit --> 1 */
#define BMI160_USER_IF_CONFIG_I2C_WDT_SELECT__POS               (1)
#define BMI160_USER_IF_CONFIG_I2C_WDT_SELECT__LEN               (1)
#define BMI160_USER_IF_CONFIG_I2C_WDT_SELECT__MSK               (0x02)
#define BMI160_USER_IF_CONFIG_I2C_WDT_SELECT__REG               \
(BMI160_USER_NV_CONFIG_ADDR)

/*IF_CONF Description - Reg Addr --> (0x70), Bit --> 2 */
#define BMI160_USER_IF_CONFIG_I2C_WDT_ENABLE__POS               (2)
#define BMI160_USER_IF_CONFIG_I2C_WDT_ENABLE__LEN               (1)
#define BMI160_USER_IF_CONFIG_I2C_WDT_ENABLE__MSK               (0x04)
#define BMI160_USER_IF_CONFIG_I2C_WDT_ENABLE__REG               \
(BMI160_USER_NV_CONFIG_ADDR)

/* NV_CONF Description - Reg Addr --> (0x70), Bit --> 3 */
#define BMI160_USER_NV_CONFIG_SPARE0__POS               (3)
#define BMI160_USER_NV_CONFIG_SPARE0__LEN               (1)
#define BMI160_USER_NV_CONFIG_SPARE0__MSK               (0x08)
#define BMI160_USER_NV_CONFIG_SPARE0__REG       (BMI160_USER_NV_CONFIG_ADDR)

/* NV_CONF Description - Reg Addr --> (0x70), Bit --> 4...7 */
#define BMI160_USER_NV_CONFIG_NVM_COUNTER__POS               (4)
#define BMI160_USER_NV_CONFIG_NVM_COUNTER__LEN               (4)
#define BMI160_USER_NV_CONFIG_NVM_COUNTER__MSK               (0xF0)
#define BMI160_USER_NV_CONFIG_NVM_COUNTER__REG  (BMI160_USER_NV_CONFIG_ADDR)
/**************************************************************/
/**************************************************************/
/* Offset_0 Description - Reg Addr --> (0x71), Bit --> 0...7 */
#define BMI160_USER_OFFSET_0_ACCEL_OFF_X__POS               (0)
#define BMI160_USER_OFFSET_0_ACCEL_OFF_X__LEN               (8)
#define BMI160_USER_OFFSET_0_ACCEL_OFF_X__MSK               (0xFF)
#define BMI160_USER_OFFSET_0_ACCEL_OFF_X__REG   (BMI160_USER_OFFSET_0_ADDR)

/* Offset_1 Description - Reg Addr --> 0x72, Bit --> 0...7 */
#define BMI160_USER_OFFSET_1_ACCEL_OFF_Y__POS               (0)
#define BMI160_USER_OFFSET_1_ACCEL_OFF_Y__LEN               (8)
#define BMI160_USER_OFFSET_1_ACCEL_OFF_Y__MSK               (0xFF)
#define BMI160_USER_OFFSET_1_ACCEL_OFF_Y__REG   (BMI160_USER_OFFSET_1_ADDR)

/* Offset_2 Description - Reg Addr --> 0x73, Bit --> 0...7 */
#define BMI160_USER_OFFSET_2_ACCEL_OFF_Z__POS               (0)
#define BMI160_USER_OFFSET_2_ACCEL_OFF_Z__LEN               (8)
#define BMI160_USER_OFFSET_2_ACCEL_OFF_Z__MSK               (0xFF)
#define BMI160_USER_OFFSET_2_ACCEL_OFF_Z__REG   (BMI160_USER_OFFSET_2_ADDR)
/**************************************************************/
/**************************************************************/
/* Offset_3 Description - Reg Addr --> 0x74, Bit --> 0...7 */
#define BMI160_USER_OFFSET_3_GYRO_OFF_X__POS               (0)
#define BMI160_USER_OFFSET_3_GYRO_OFF_X__LEN               (8)
#define BMI160_USER_OFFSET_3_GYRO_OFF_X__MSK               (0xFF)
#define BMI160_USER_OFFSET_3_GYRO_OFF_X__REG    (BMI160_USER_OFFSET_3_ADDR)

/* Offset_4 Description - Reg Addr --> 0x75, Bit --> 0...7 */
#define BMI160_USER_OFFSET_4_GYRO_OFF_Y__POS               (0)
#define BMI160_USER_OFFSET_4_GYRO_OFF_Y__LEN               (8)
#define BMI160_USER_OFFSET_4_GYRO_OFF_Y__MSK               (0xFF)
#define BMI160_USER_OFFSET_4_GYRO_OFF_Y__REG    (BMI160_USER_OFFSET_4_ADDR)

/* Offset_5 Description - Reg Addr --> 0x76, Bit --> 0...7 */
#define BMI160_USER_OFFSET_5_GYRO_OFF_Z__POS               (0)
#define BMI160_USER_OFFSET_5_GYRO_OFF_Z__LEN               (8)
#define BMI160_USER_OFFSET_5_GYRO_OFF_Z__MSK               (0xFF)
#define BMI160_USER_OFFSET_5_GYRO_OFF_Z__REG    (BMI160_USER_OFFSET_5_ADDR)


/* Offset_6 Description - Reg Addr --> 0x77, Bit --> 0..1 */
#define BMI160_USER_OFFSET_6_GYRO_OFF_X__POS               (0)
#define BMI160_USER_OFFSET_6_GYRO_OFF_X__LEN               (2)
#define BMI160_USER_OFFSET_6_GYRO_OFF_X__MSK               (0x03)
#define BMI160_USER_OFFSET_6_GYRO_OFF_X__REG    (BMI160_USER_OFFSET_6_ADDR)

/* Offset_6 Description - Reg Addr --> 0x77, Bit --> 2...3 */
#define BMI160_USER_OFFSET_6_GYRO_OFF_Y__POS               (2)
#define BMI160_USER_OFFSET_6_GYRO_OFF_Y__LEN               (2)
#define BMI160_USER_OFFSET_6_GYRO_OFF_Y__MSK               (0x0C)
#define BMI160_USER_OFFSET_6_GYRO_OFF_Y__REG    (BMI160_USER_OFFSET_6_ADDR)

/* Offset_6 Description - Reg Addr --> 0x77, Bit --> 4...5 */
#define BMI160_USER_OFFSET_6_GYRO_OFF_Z__POS               (4)
#define BMI160_USER_OFFSET_6_GYRO_OFF_Z__LEN               (2)
#define BMI160_USER_OFFSET_6_GYRO_OFF_Z__MSK               (0x30)
#define BMI160_USER_OFFSET_6_GYRO_OFF_Z__REG     (BMI160_USER_OFFSET_6_ADDR)
/**************************************************************/
/**************************************************************/
/* Offset_6 Description - Reg Addr --> 0x77, Bit --> 6 */
#define BMI160_USER_OFFSET_6_ACCEL_OFF_ENABLE__POS               (6)
#define BMI160_USER_OFFSET_6_ACCEL_OFF_ENABLE__LEN               (1)
#define BMI160_USER_OFFSET_6_ACCEL_OFF_ENABLE__MSK               (0x40)
#define BMI160_USER_OFFSET_6_ACCEL_OFF_ENABLE__REG       \
(BMI160_USER_OFFSET_6_ADDR)
/**************************************************************/
/**************************************************************/
/* Offset_6 Description - Reg Addr --> 0x77, Bit -->  7 */
#define BMI160_USER_OFFSET_6_GYRO_OFF_EN__POS               (7)
#define BMI160_USER_OFFSET_6_GYRO_OFF_EN__LEN               (1)
#define BMI160_USER_OFFSET_6_GYRO_OFF_EN__MSK               (0x80)
#define BMI160_USER_OFFSET_6_GYRO_OFF_EN__REG    (BMI160_USER_OFFSET_6_ADDR)
/**************************************************************/
/**************************************************************/
/* STEP_CNT_0  Description - Reg Addr --> 0x78, Bit -->  0 to 7 */
#define BMI160_USER_STEP_COUNT_LSB__POS               (0)
#define BMI160_USER_STEP_COUNT_LSB__LEN               (7)
#define BMI160_USER_STEP_COUNT_LSB__MSK               (0xFF)
#define BMI160_USER_STEP_COUNT_LSB__REG  (BMI160_USER_STEP_COUNT_0_ADDR)

/* STEP_CNT_1  Description - Reg Addr --> 0x79, Bit -->  0 to 7 */
#define BMI160_USER_STEP_COUNT_MSB__POS               (0)
#define BMI160_USER_STEP_COUNT_MSB__LEN               (7)
#define BMI160_USER_STEP_COUNT_MSB__MSK               (0xFF)
#define BMI160_USER_STEP_COUNT_MSB__REG  (BMI160_USER_STEP_COUNT_1_ADDR)
/**************************************************************/
/**************************************************************/
/* STEP_CONFIG_0  Description - Reg Addr --> 0x7A, Bit -->  0 to 7 */
#define BMI160_USER_STEP_CONFIG_ZERO__POS               (0)
#define BMI160_USER_STEP_CONFIG_ZERO__LEN               (7)
#define BMI160_USER_STEP_CONFIG_ZERO__MSK               (0xFF)
#define BMI160_USER_STEP_CONFIG_ZERO__REG        \
(BMI160_USER_STEP_CONFIG_0_ADDR)


/* STEP_CONFIG_1  Description - Reg Addr --> 0x7B, Bit -->  0 to 2 and
4 to 7 */
#define BMI160_USER_STEP_CONFIG_ONE_CNF1__POS               (0)
#define BMI160_USER_STEP_CONFIG_ONE_CNF1__LEN               (3)
#define BMI160_USER_STEP_CONFIG_ONE_CNF1__MSK               (0x07)
#define BMI160_USER_STEP_CONFIG_ONE_CNF1__REG    \
(BMI160_USER_STEP_CONFIG_1_ADDR)

#define BMI160_USER_STEP_CONFIG_ONE_CNF2__POS               (4)
#define BMI160_USER_STEP_CONFIG_ONE_CNF2__LEN               (4)
#define BMI160_USER_STEP_CONFIG_ONE_CNF2__MSK               (0xF0)
#define BMI160_USER_STEP_CONFIG_ONE_CNF2__REG    \
(BMI160_USER_STEP_CONFIG_1_ADDR)
/**************************************************************/
/**************************************************************/
/* STEP_CONFIG_1  Description - Reg Addr --> 0x7B, Bit -->  0 to 2 */
#define BMI160_USER_STEP_CONFIG_1_STEP_COUNT_ENABLE__POS                (3)
#define BMI160_USER_STEP_CONFIG_1_STEP_COUNT_ENABLE__LEN                (1)
#define BMI160_USER_STEP_CONFIG_1_STEP_COUNT_ENABLE__MSK                (0x08)
#define BMI160_USER_STEP_CONFIG_1_STEP_COUNT_ENABLE__REG        \
(BMI160_USER_STEP_CONFIG_1_ADDR)

/* USER REGISTERS DEFINITION END */
/**************************************************************************/
/* CMD REGISTERS DEFINITION START */
/**************************************************************/
/**************************************************************/
/* Command description address - Reg Addr --> 0x7E, Bit -->  0....7 */
#define BMI160_CMD_COMMANDS__POS              (0)
#define BMI160_CMD_COMMANDS__LEN              (8)
#define BMI160_CMD_COMMANDS__MSK              (0xFF)
#define BMI160_CMD_COMMANDS__REG         (BMI160_CMD_COMMANDS_ADDR)
/**************************************************************/
/**************************************************************/
/* Target page address - Reg Addr --> 0x7F, Bit -->  4....5 */
#define BMI160_CMD_TARGET_PAGE__POS           (4)
#define BMI160_CMD_TARGET_PAGE__LEN           (2)
#define BMI160_CMD_TARGET_PAGE__MSK           (0x30)
#define BMI160_CMD_TARGET_PAGE__REG      (BMI160_CMD_EXT_MODE_ADDR)

/* Target page address - Reg Addr --> 0x7F, Bit -->  4....5 */
#define BMI160_CMD_PAGING_EN__POS           (7)
#define BMI160_CMD_PAGING_EN__LEN           (1)
#define BMI160_CMD_PAGING_EN__MSK           (0x80)
#define BMI160_CMD_PAGING_EN__REG               (BMI160_CMD_EXT_MODE_ADDR)

/* Target page address - Reg Addr --> 0x7F, Bit -->  4....5 */
#define BMI160_COM_C_TRIM_FIVE__POS           (0)
#define BMI160_COM_C_TRIM_FIVE__LEN           (8)
#define BMI160_COM_C_TRIM_FIVE__MSK           (0xFF)
#define BMI160_COM_C_TRIM_FIVE__REG             (BMI160_COM_C_TRIM_FIVE_ADDR)

/**************************************************************************/
/* CMD REGISTERS DEFINITION END */
#ifdef FIFO_ENABLE
/**************************************************/
/*************************************************/
#define FIFO_FRAME                              (512)
#define FIFO_CONFIG_CHECK1              (0x00)
#define FIFO_CONFIG_CHECK2              (0x80)
#endif
/**************************************************/
/*************************************************/
#define BST_BMM         (0)
#define BST_AKM         (1)
#define BMI160_YAS537_I2C_ADDRESS       (0x2E)
/**************************************************/
/*************************************************/
#define BMI160_ACCEL_RANGE_2G           (0X03)
#define BMI160_ACCEL_RANGE_4G           (0X05)
#define BMI160_ACCEL_RANGE_8G           (0X08)
#define BMI160_ACCEL_RANGE_16G          (0X0C)
/**************************************************/
/*************************************************/
#define BMI160_ACCEL_OUTPUT_DATA_RATE_RESERVED       (0x00)
#define BMI160_ACCEL_OUTPUT_DATA_RATE_0_78HZ         (0x01)
#define BMI160_ACCEL_OUTPUT_DATA_RATE_1_56HZ         (0x02)
#define BMI160_ACCEL_OUTPUT_DATA_RATE_3_12HZ         (0x03)
#define BMI160_ACCEL_OUTPUT_DATA_RATE_6_25HZ         (0x04)
#define BMI160_ACCEL_OUTPUT_DATA_RATE_12_5HZ         (0x05)
#define BMI160_ACCEL_OUTPUT_DATA_RATE_25HZ           (0x06)
#define BMI160_ACCEL_OUTPUT_DATA_RATE_50HZ           (0x07)
#define BMI160_ACCEL_OUTPUT_DATA_RATE_100HZ          (0x08)
#define BMI160_ACCEL_OUTPUT_DATA_RATE_200HZ          (0x09)
#define BMI160_ACCEL_OUTPUT_DATA_RATE_400HZ          (0x0A)
#define BMI160_ACCEL_OUTPUT_DATA_RATE_800HZ          (0x0B)
#define BMI160_ACCEL_OUTPUT_DATA_RATE_1600HZ         (0x0C)
#define BMI160_ACCEL_OUTPUT_DATA_RATE_RESERVED0      (0x0D)
#define BMI160_ACCEL_OUTPUT_DATA_RATE_RESERVED1      (0x0E)
#define BMI160_ACCEL_OUTPUT_DATA_RATE_RESERVED2      (0x0F)
/**************************************************/
/*************************************************/
#define BMI160_ACCEL_OSR4_AVG1                  (0)
#define BMI160_ACCEL_OSR2_AVG2                  (1)
#define BMI160_ACCEL_NORMAL_AVG4                (2)
#define BMI160_ACCEL_CIC_AVG8                   (3)
#define BMI160_ACCEL_RES_AVG2                   (4)
#define BMI160_ACCEL_RES_AVG4                   (5)
#define BMI160_ACCEL_RES_AVG8                   (6)
#define BMI160_ACCEL_RES_AVG16                  (7)
#define BMI160_ACCEL_RES_AVG32                  (8)
#define BMI160_ACCEL_RES_AVG64                  (9)
#define BMI160_ACCEL_RES_AVG128                 (10)

#define BMI160_US_DISABLE                               (0)
#define BMI160_US_ENABLE                                (1)
/**************************************************/
/*************************************************/
#define BMI160_GYRO_OUTPUT_DATA_RATE_RESERVED           (0x00)
#define BMI160_GYRO_OUTPUT_DATA_RATE_25HZ                       (0x06)
#define BMI160_GYRO_OUTPUT_DATA_RATE_50HZ                       (0x07)
#define BMI160_GYRO_OUTPUT_DATA_RATE_100HZ                      (0x08)
#define BMI160_GYRO_OUTPUT_DATA_RATE_200HZ                      (0x09)
#define BMI160_GYRO_OUTPUT_DATA_RATE_400HZ                      (0x0A)
#define BMI160_GYRO_OUTPUT_DATA_RATE_800HZ                      (0x0B)
#define BMI160_GYRO_OUTPUT_DATA_RATE_1600HZ                     (0x0C)
#define BMI160_GYRO_OUTPUT_DATA_RATE_3200HZ                     (0x0D)
/**************************************************/
/*************************************************/
#define BMI160_GYRO_OSR4_MODE           (0x00)
#define BMI160_GYRO_OSR2_MODE           (0x01)
#define BMI160_GYRO_NORMAL_MODE         (0x02)
#define BMI160_GYRO_CIC_MODE            (0x03)
/**************************************************/
/*************************************************/
#define BMI160_GYRO_RANGE_2000_DEG_SEC  (0x00)
#define BMI160_GYRO_RANGE_1000_DEG_SEC  (0x01)
#define BMI160_GYRO_RANGE_500_DEG_SEC   (0x02)
#define BMI160_GYRO_RANGE_250_DEG_SEC   (0x03)
#define BMI160_GYRO_RANGE_125_DEG_SEC   (0x04)
/**************************************************/
/*************************************************/
#define BMI160_MAG_OUTPUT_DATA_RATE_RESERVED       (0x00)
#define BMI160_MAG_OUTPUT_DATA_RATE_0_78HZ         (0x01)
#define BMI160_MAG_OUTPUT_DATA_RATE_1_56HZ         (0x02)
#define BMI160_MAG_OUTPUT_DATA_RATE_3_12HZ         (0x03)
#define BMI160_MAG_OUTPUT_DATA_RATE_6_25HZ         (0x04)
#define BMI160_MAG_OUTPUT_DATA_RATE_12_5HZ         (0x05)
#define BMI160_MAG_OUTPUT_DATA_RATE_25HZ           (0x06)
#define BMI160_MAG_OUTPUT_DATA_RATE_50HZ           (0x07)
#define BMI160_MAG_OUTPUT_DATA_RATE_100HZ          (0x08)
#define BMI160_MAG_OUTPUT_DATA_RATE_200HZ          (0x09)
#define BMI160_MAG_OUTPUT_DATA_RATE_400HZ          (0x0A)
#define BMI160_MAG_OUTPUT_DATA_RATE_800HZ          (0x0B)
#define BMI160_MAG_OUTPUT_DATA_RATE_1600HZ         (0x0C)
#define BMI160_MAG_OUTPUT_DATA_RATE_RESERVED0      (0x0D)
#define BMI160_MAG_OUTPUT_DATA_RATE_RESERVED1      (0x0E)
#define BMI160_MAG_OUTPUT_DATA_RATE_RESERVED2      (0x0F)

/**************************************************/
/*************************************************/

/* Enable accel and gyro offset */
#define ACCEL_OFFSET_ENABLE             (0x01)
#define GYRO_OFFSET_ENABLE              (0x01)

/* command register definition */
#define START_FOC_ACCEL_GYRO    (0X03)

 /* INT ENABLE 1 */
#define BMI160_ANY_MOTION_X_ENABLE       (0)
#define BMI160_ANY_MOTION_Y_ENABLE       (1)
#define BMI160_ANY_MOTION_Z_ENABLE       (2)
#define BMI160_DOUBLE_TAP_ENABLE         (4)
#define BMI160_SINGLE_TAP_ENABLE         (5)
#define BMI160_ORIENT_ENABLE             (6)
#define BMI160_FLAT_ENABLE               (7)

/* INT ENABLE 1 */
#define BMI160_HIGH_G_X_ENABLE       (0)
#define BMI160_HIGH_G_Y_ENABLE       (1)
#define BMI160_HIGH_G_Z_ENABLE       (2)
#define BMI160_LOW_G_ENABLE          (3)
#define BMI160_DATA_RDY_ENABLE       (4)
#define BMI160_FIFO_FULL_ENABLE      (5)
#define BMI160_FIFO_WM_ENABLE        (6)

/* INT ENABLE 2 */
#define  BMI160_NOMOTION_X_ENABLE       (0)
#define  BMI160_NOMOTION_Y_ENABLE       (1)
#define  BMI160_NOMOTION_Z_ENABLE       (2)

/* FOC axis selection for accel*/
#define FOC_X_AXIS              (0)
#define FOC_Y_AXIS              (1)
#define FOC_Z_AXIS              (2)

/* IN OUT CONTROL */
#define BMI160_INTR1_EDGE_CTRL                  (0)
#define BMI160_INTR2_EDGE_CTRL                  (1)
#define BMI160_INTR1_LEVEL                              (0)
#define BMI160_INTR2_LEVEL                              (1)
#define BMI160_INTR1_OUTPUT_TYPE                (0)
#define BMI160_INTR2_OUTPUT_TYPE                (1)
#define BMI160_INTR1_OUTPUT_ENABLE              (0)
#define BMI160_INTR2_OUTPUT_ENABLE              (1)

#define BMI160_INTR1_INPUT_ENABLE       (0)
#define BMI160_INTR2_INPUT_ENABLE       (1)

/*  INTERRUPT MAPS    */
#define BMI160_INTR1_MAP_LOW_G                  (0)
#define BMI160_INTR2_MAP_LOW_G                  (1)
#define BMI160_INTR1_MAP_HIGH_G                 (0)
#define BMI160_INTR2_MAP_HIGH_G                 (1)
#define BMI160_INTR1_MAP_ANY_MOTION             (0)
#define BMI160_INTR2_MAP_ANY_MOTION             (1)
#define BMI160_INTR1_MAP_NOMO                   (0)
#define BMI160_INTR2_MAP_NOMO                   (1)
#define BMI160_INTR1_MAP_DOUBLE_TAP             (0)
#define BMI160_INTR2_MAP_DOUBLE_TAP             (1)
#define BMI160_INTR1_MAP_SINGLE_TAP             (0)
#define BMI160_INTR2_MAP_SINGLE_TAP             (1)
#define BMI160_INTR1_MAP_ORIENT                 (0)
#define BMI160_INTR2_MAP_ORIENT                 (1)
#define BMI160_INTR1_MAP_FLAT                   (0)
#define BMI160_INTR2_MAP_FLAT                   (1)
#define BMI160_INTR1_MAP_DATA_RDY               (0)
#define BMI160_INTR2_MAP_DATA_RDY               (1)
#define BMI160_INTR1_MAP_FIFO_WM                (0)
#define BMI160_INTR2_MAP_FIFO_WM                (1)
#define BMI160_INTR1_MAP_FIFO_FULL      (0)
#define BMI160_INTR2_MAP_FIFO_FULL      (1)
#define BMI160_INTR1_MAP_PMUTRIG        (0)
#define BMI160_INTR2_MAP_PMUTRIG                (1)

/* Interrupt mapping*/
#define BMI160_MAP_INTR1                (0)
#define BMI160_MAP_INTR2                (1)
/**************************************************/
/*************************************************/
#define BMI160_TAP_DURN_50MS     (0x00)
#define BMI160_TAP_DURN_100MS    (0x01)
#define BMI160_TAP_DURN_150MS    (0x02)
#define BMI160_TAP_DURN_200MS    (0x03)
#define BMI160_TAP_DURN_250MS    (0x04)
#define BMI160_TAP_DURN_375MS    (0x05)
#define BMI160_TAP_DURN_500MS    (0x06)
#define BMI160_TAP_DURN_700MS    (0x07)
/**************************************************/
/*************************************************/
#define BMI160_TAP_SHOCK_50MS   (0x00)
#define BMI160_TAP_SHOCK_75MS   (0x01)
/**************************************************/
/*************************************************/
#define BMI160_TAP_QUIET_30MS   (0x00)
#define BMI160_TAP_QUIET_20MS   (0x01)
/**************************************************/
/*************************************************/
#define BMI160_STEP_NORMAL_MODE                 (0)
#define BMI160_STEP_SENSITIVE_MODE              (1)
#define BMI160_STEP_ROBUST_MODE                 (2)
/**************************************************/
/*************************************************/
#define STEP_CONFIG_NORMAL              (0X315)
#define STEP_CONFIG_SENSITIVE   (0X2D)
#define STEP_CONFIG_ROBUST              (0X71D)
/**************************************************/
/*************************************************/
#define BMI160_MAG_DIG_X1                      (0x5D)
#define BMI160_MAG_DIG_Y1                      (0x5E)
#define BMI160_MAG_DIG_Z4_LSB                  (0x62)
#define BMI160_MAG_DIG_Z4_MSB                  (0x63)
#define BMI160_MAG_DIG_X2                      (0x64)
#define BMI160_MAG_DIG_Y2                      (0x65)
#define BMI160_MAG_DIG_Z2_LSB                  (0x68)
#define BMI160_MAG_DIG_Z2_MSB                  (0x69)
#define BMI160_MAG_DIG_Z1_LSB                  (0x6A)
#define BMI160_MAG_DIG_Z1_MSB                  (0x6B)
#define BMI160_MAG_DIG_XYZ1_LSB                (0x6C)
#define BMI160_MAG_DIG_XYZ1_MSB                (0x6D)
#define BMI160_MAG_DIG_Z3_LSB                  (0x6E)
#define BMI160_MAG_DIG_Z3_MSB                  (0x6F)
#define BMI160_MAG_DIG_XY2                     (0x70)
#define BMI160_MAG_DIG_XY1                     (0x71)
/**************************************************/
/*************************************************/
#define BMI160_MAG_PRESETMODE_LOWPOWER                 (1)
#define BMI160_MAG_PRESETMODE_REGULAR                  (2)
#define BMI160_MAG_PRESETMODE_HIGHACCURACY             (3)
#define BMI160_MAG_PRESETMODE_ENHANCED                 (4)
/**************************************************/
/*************************************************/
#define BMI160_MAG_LOWPOWER_DR                       (0x02)
#define BMI160_MAG_REGULAR_DR                        (0x02)
#define BMI160_MAG_HIGHACCURACY_DR                   (0x2A)
#define BMI160_MAG_ENHANCED_DR                       (0x02)
/**************************************************/
/*************************************************/
#define BMI160_MAG_LOWPOWER_REPXY                    (1)
#define BMI160_MAG_REGULAR_REPXY                     (4)
#define BMI160_MAG_HIGHACCURACY_REPXY                (23)
#define BMI160_MAG_ENHANCED_REPXY                    (7)
/**************************************************/
/*************************************************/
#define BMI160_MAG_LOWPOWER_REPZ                     (2)
#define BMI160_MAG_REGULAR_REPZ                      (14)
#define BMI160_MAG_HIGHACCURACY_REPZ                 (82)
#define BMI160_MAG_ENHANCED_REPZ                     (26)
#define BMI160_MAG_NOAMRL_SWITCH_TIMES               (5)
#define MAG_INTERFACE_PMU_ENABLE                     (1)
#define MAG_INTERFACE_PMU_DISABLE                    (0)
/**************************************************/
/*************************************************/
#define BMI160_MAG_OVERFLOW_OUTPUT                      ((s16)-32768)
#define BMI160_MAG_OVERFLOW_OUTPUT_S32          ((s32)(-2147483647-1))
#define BMI160_MAG_NEGATIVE_SATURATION_Z   ((s16)-32767)
#define BMI160_MAG_POSITIVE_SATURATION_Z   ((u16)32767)
#define BMI160_MAG_FLIP_OVERFLOW_ADCVAL         ((s16)-4096)
#define BMI160_MAG_HALL_OVERFLOW_ADCVAL         ((s16)-16384)
/**************************************************/
/*************************************************/
#define BMI160_BMM150_CHIP_ID           (0x40)
#define BMI160_BMM150_POWE_CONTROL_REG  (0x4B)
#define BMI160_BMM150_POWE_MODE_REG             (0x4C)
#define BMI160_BMM150_DATA_REG                  (0x42)
#define BMI160_BMM150_XY_REP                    (0x51)
#define BMI160_BMM150_Z_REP                             (0x52)
/**************************************************/
/*************************************************/
#define BMI160_BST_AKM_ASAX             (0x60)
#define BMI160_BST_AKM_ASAY             (0x61)
#define BMI160_BST_AKM_ASAZ             (0x62)
/**************************************************/
/*************************************************/
#define AKM_POWER_DOWN_MODE                     (0)
#define AKM_SINGLE_MEAS_MODE            (1)
#define FUSE_ROM_MODE                           (2)
/**************************************************/
/*************************************************/
#define BMI160_MAG_FORCE_MODE           (0)
#define BMI160_MAG_SUSPEND_MODE         (1)
/**************************************************/
/*************************************************/
#define FORCE_MODE              (0)
#define SUSPEND_MODE    (1)
#define NORMAL_MODE             (2)
#define MAG_SUSPEND_MODE (1)

#ifdef FIFO_ENABLE
/**************************************************/
/*************************************************/
#define FIFO_HEADER_ENABLE                      (0x01)
#define FIFO_MAG_ENABLE                         (0x01)
#define FIFO_ACCEL_ENABLE                       (0x01)
#define FIFO_GYRO_ENABLE                        (0x01)
#define FIFO_TIME_ENABLE                        (0x01)
#define FIFO_STOPONFULL_ENABLE          (0x01)
#define FIFO_WM_INTERRUPT_ENABLE        (0x01)
#define BMI160_FIFO_INDEX_LENGTH        (1)
#define BMI160_FIFO_TAG_INTR_MASK       (0xFC)

/* FIFO definitions*/
#define FIFO_HEAD_A        (0x84)
#define FIFO_HEAD_G        (0x88)
#define FIFO_HEAD_M        (0x90)

#define FIFO_HEAD_G_A   (0x8C)
#define FIFO_HEAD_M_A   (0x94)
#define FIFO_HEAD_M_G   (0x98)

#define FIFO_HEAD_M_G_A         (0x9C)

#define FIFO_HEAD_SENSOR_TIME                   (0x44)
#define FIFO_HEAD_INPUT_CONFIG                  (0x48)
#define FIFO_HEAD_SKIP_FRAME                    (0x40)
#define FIFO_HEAD_OVER_READ_LSB                 (0x80)
#define FIFO_HEAD_OVER_READ_MSB                 (0x00)


/* FIFO 1024 byte, max fifo frame count not over 150 */

#define FIFO_INPUT_CONFIG_OVER_LEN  ((s8)-11)
#define FIFO_OVER_READ_RETURN           ((s8)-10)
#define FIFO_SENSORTIME_RETURN          ((s8)-9)
#define FIFO_SKIP_OVER_LEN                      ((s8)-8)
#define FIFO_M_G_A_OVER_LEN                     ((s8)-7)
#define FIFO_M_G_OVER_LEN                       ((s8)-6)
#define FIFO_M_A_OVER_LEN                       ((s8)-5)
#define FIFO_G_A_OVER_LEN                       ((s8)-4)
#define FIFO_M_OVER_LEN                         ((s8)-3)
#define FIFO_G_OVER_LEN                         ((s8)-2)
#define FIFO_A_OVER_LEN                         ((s8)-1)
#endif
/**************************************************/
/*************************************************/
#define ACCEL_MODE_NORMAL       (0x11)
#define ACCEL_LOWPOWER          (0X12)
#define ACCEL_SUSPEND           (0X10)
/* BMI160 Accel power modes*/
#define BMI160_ACCEL_SUSPEND        0
#define BMI160_ACCEL_NORMAL_MODE    1
#define BMI160_ACCEL_LOW_POWER      2
/**************************************************/
/*************************************************/
#define GYRO_MODE_SUSPEND               (0x14)
#define GYRO_MODE_NORMAL                (0x15)
#define GYRO_MODE_FASTSTARTUP   (0x17)
/**************************************************/
/*************************************************/
#define MAG_MODE_SUSPEND        (0x18)
#define MAG_MODE_NORMAL         (0x19)
#define MAG_MODE_LOWPOWER       (0x1A)
/**************************************************/
/*************************************************/
#define BMI160_ENABLE   (0x01)
#define BMI160_DISABLE  (0x00)
/**************************************************/
/*************************************************/
#define BMI160_EDGE             (0x01)
#define BMI160_LEVEL    (0x00)
/**************************************************/
/*************************************************/
#define BMI160_LEVEL_LOW                (0x00)
#define BMI160_LEVEL_HIGH               (0x01)
/**************************************************/
/*************************************************/
#define BMI160_OPEN_DRAIN       (0x01)
#define BMI160_PUSH_PULL        (0x00)

/* interrupt output enable*/
#define BMI160_INPUT    (0x01)
#define BMI160_OUTPUT   (0x00)

/**************************************************/
/*************************************************/
#define FILTER_DATA             (0x00)
#define UNFILTER_DATA   (0x01)
/**************************************************/
/*************************************************/
#define SLOW_MOTION             (0x00)
#define NO_MOTION               (0x01)
/**************************************************/
/*************************************************/
#define ANY_MOTION                      (0x00)
#define SIGNIFICANT_MOTION      (0x01)
/**************************************************/
/*************************************************/
#define BMI160_LATCH_DUR_NONE                           (0x00)
#define BMI160_LATCH_DUR_312_5_MICRO_SEC        (0x01)
#define BMI160_LATCH_DUR_625_MICRO_SEC          (0x02)
#define BMI160_LATCH_DUR_1_25_MILLI_SEC         (0x03)
#define BMI160_LATCH_DUR_2_5_MILLI_SEC          (0x04)
#define BMI160_LATCH_DUR_5_MILLI_SEC            (0x05)
#define BMI160_LATCH_DUR_10_MILLI_SEC           (0x06)
#define BMI160_LATCH_DUR_20_MILLI_SEC           (0x07)
#define BMI160_LATCH_DUR_40_MILLI_SEC           (0x08)
#define BMI160_LATCH_DUR_80_MILLI_SEC           (0x09)
#define BMI160_LATCH_DUR_160_MILLI_SEC          (0x0A)
#define BMI160_LATCH_DUR_320_MILLI_SEC          (0x0B)
#define BMI160_LATCH_DUR_640_MILLI_SEC          (0x0C)
#define BMI160_LATCH_DUR_1_28_SEC                       (0x0D)
#define BMI160_LATCH_DUR_2_56_SEC                       (0x0E)
#define BMI160_LATCHED                                          (0x0F)
/**************************************************/
/*************************************************/
#define BMI160_GYRO_MANUAL_OFFSET_0_7   (0x00FF)
#define BMI160_GYRO_MANUAL_OFFSET_8_9   (0x0300)
/**************************************************/
/*************************************************/
#define BMI160_STEP_CONFIG_0_7          (0x00FF)
#define BMI160_STEP_CONFIG_8_10         (0x0700)
#define BMI160_STEP_CONFIG_11_14        (0xF000)
/**************************************************/
/*************************************************/
#define BMI160_WRITE_TARGET_PAGE0       (0x00)
#define BMI160_WRITE_TARGET_PAGE1       (0x01)
#define BMI160_WRITE_ENABLE_PAGE1       (0x01)
#define BMI160_MANUAL_DISABLE       (0x00)
#define BMI160_MANUAL_ENABLE        (0x01)
#define BMI160_YAS_DISABLE_RCOIL        (0x00)
#define BMI160_ENABLE_MAG_IF_MODE       (0x02)
#define BMI160_ENABLE_ANY_MOTION_INTR1  (0x04)
#define BMI160_ENABLE_ANY_MOTION_INTR2  (0x04)
#define BMI160_MAG_DATA_READ_REG        (0x04)
#define BMI160_BMM_POWER_MODE_REG               (0x06)
#define BMI160_ENABLE_ANY_MOTION_AXIS   (0x07)
#define BMI160_ENABLE_LOW_G             (0x08)
#define BMI160_YAS532_ACQ_START         (0x11)
#define BMI160_YAS_DEVICE_ID_REG        (0x80)
#define BMI160_FIFO_GYRO_ENABLE         (0x80)
#define BMI160_SIG_MOTION_INTR_ENABLE   (0x01)
#define BMI160_STEP_DETECT_INTR_ENABLE  (0x01)
#define BMI160_LOW_G_INTR_STAT          (0x01)
#define BMI160_PULL_UP_DATA             (0x30)
#define BMI160_FIFO_M_G_A_ENABLE        (0xE0)
#define BMI160_FIFO_M_G_ENABLE          (0xA0)
#define BMI160_FIFO_M_A_ENABLE          (0x60)
#define BMI160_FIFO_G_A_ENABLE          (0xC0)
#define BMI160_FIFO_A_ENABLE            (0x40)
#define BMI160_FIFO_M_ENABLE            (0x20)

#define BMI160_SEC_IF_BMM150    (0)
#define BMI160_SEC_IF_AKM09911  (1)
#define BMI160_SEC_IF_AKM09912  (2)
#define BMI160_SEC_IF_YAS532    (3)
#define BMI160_SEC_IF_YAS537    (4)
/**************************************************/
/*************************************************/
#define BMI160_COMMAND_REG_ONE          (0x37)
#define BMI160_COMMAND_REG_TWO          (0x9A)
#define BMI160_COMMAND_REG_THREE        (0xC0)
#define RESET_STEP_COUNTER                      (0xB2)
/**************************************************/
/*************************************************/
#define BMI160_GET_BITSLICE(regvar, bitname)\
                ((regvar & bitname##__MSK) >> bitname##__POS)


#define BMI160_SET_BITSLICE(regvar, bitname, val)\
                ((regvar & ~bitname##__MSK) | \
                ((val<<bitname##__POS)&bitname##__MSK))

/**************************************************/
/*************************************************/
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_init(struct bmi160_t *bmi160);
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_write_reg(u8 v_addr_u8,
u8 *v_data_u8, u8 v_len_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_read_reg(u8 v_addr_u8,
u8 *v_data_u8, u8 v_len_u8);
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_fatal_err(u8
*v_fatal_err_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_err_code(u8
*v_error_code_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_i2c_fail_err(u8
*v_i2c_error_code_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_drop_cmd_err(u8
*v_drop_cmd_err_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_mag_data_rdy_err(u8
*v_mag_data_rdy_err_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_error_status(u8 *v_fatal_er_u8r,
u8 *v_err_code_u8, u8 *v_i2c_fail_err_u8,
u8 *v_drop_cmd_err_u8, u8 *v_mag_data_rdy_err_u8);
/******************************************************************/
/*****************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_mag_power_mode_stat(u8
*v_mag_power_mode_stat_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_power_mode_stat(u8
*v_gyro_power_mode_stat_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_power_mode_stat(u8
*v_accel_power_mode_stat_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_mag_interface_normal(void);
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_read_mag_x(s16 *v_mag_x_s16,
u8 v_sensor_select_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_read_mag_y(s16 *v_mag_y_s16,
u8 v_sensor_select_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_read_mag_z(s16 *v_mag_z_s16,
u8 v_sensor_select_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_read_mag_r(
s16 *v_mag_r_s16);
BMI160_RETURN_FUNCTION_TYPE bmi160_read_mag_xyz(
struct bmi160_mag_t *mag, u8 v_sensor_select_u8);
 /*!*
 *      @brief This API reads magnetometer data X,Y,Z,r
 *      values from the register 0x04 to 0x0B
 *
 *      @brief The mag sensor data read form auxiliary mag
 *
 *  @param mag : The value of mag-BMM150 xyzr data
 *
 *      @note For mag data output rate configuration use the following function
 *      @note bmi160_set_mag_output_data_rate()
 *
 *      @return results of bus communication function
 *      @retval 0 -> Success
 *      @retval -1 -> Error
 *
 *
*/
BMI160_RETURN_FUNCTION_TYPE bmi160_read_mag_xyzr(
struct bmi160_mag_xyzr_t *mag);
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_read_gyro_x(
s16 *v_gyro_x_s16);
BMI160_RETURN_FUNCTION_TYPE bmi160_read_gyro_y(
s16 *v_gyro_y_s16);
BMI160_RETURN_FUNCTION_TYPE bmi160_read_gyro_z(
s16 *v_gyro_z_s16);
BMI160_RETURN_FUNCTION_TYPE bmi160_read_gyro_xyz(
struct bmi160_gyro_t *gyro);
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_read_accel_x(
s16 *v_accel_x_s16);
BMI160_RETURN_FUNCTION_TYPE bmi160_read_accel_y(
s16 *v_accel_y_s16);
BMI160_RETURN_FUNCTION_TYPE bmi160_read_accel_z(
s16 *v_accel_z_s16);
BMI160_RETURN_FUNCTION_TYPE bmi160_read_accel_xyz(
struct bmi160_accel_t *accel);
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_sensor_time(
u32 *v_sensor_time_u32);
BMI160_RETURN_FUNCTION_TYPE bmi160_read_accel_gyro_sensor_time
(u8 accel_gyro_sensortime_select,
struct bmi160_sensortime_accel_gyro_data *accel_gyro_sensor_time);
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_selftest(u8
*v_gyro_selftest_u8);
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_mag_manual_operation_stat(u8
*v_mag_manual_stat_u8);
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_foc_rdy(u8
*v_foc_rdy_u8);
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_nvm_rdy(u8
*v_nvm_rdy_u8);
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_data_rdy_mag(u8
*v_data_rdy_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_data_rdy(u8
*v_data_rdy_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_data_rdy(u8
*drdy_acc);
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat0_step_intr(u8
*v_step_intr_u8);
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat0_significant_intr(u8
*sigmot_intr);
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat0_any_motion_intr(u8
*v_any_motion_intr_u8);
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat0_pmu_trigger_intr(u8
*v_pmu_trigger_intr_u8);
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat0_double_tap_intr(u8
*v_double_tap_intr_u8);
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat0_single_tap_intr(u8
*v_single_tap_intr_u8);
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat0_orient_intr(u8
*v_orient_intr_u8);
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat0_flat_intr(u8
*v_flat_intr_u8);
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat1_high_g_intr(u8
*v_high_g_intr_u8);
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat1_low_g_intr(u8
*v_low_g_intr_u8);
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat1_data_rdy_intr(u8
*v_data_rdy_intr_u8);

#ifdef FIFO_ENABLE
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat1_fifo_full_intr(u8
*v_fifo_full_intr_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat1_fifo_wm_intr(u8
*v_fifo_wm_intr_u8);
#endif
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat1_nomotion_intr(u8
*nomo_intr);
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat2_any_motion_first_x(u8
*v_anymotion_first_x_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat2_any_motion_first_y(u8
*v_any_motion_first_y_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat2_any_motion_first_z(u8
*v_any_motion_first_z_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat2_any_motion_sign(u8
*v_anymotion_sign_u8);
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat2_tap_first_x(u8
*v_tap_first_x_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat2_tap_first_y(u8
*v_tap_first_y_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat2_tap_first_z(u8
*v_tap_first_z_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat2_tap_sign(u8
*tap_sign);
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat3_high_g_first_x(u8
*v_high_g_first_x_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat3_high_g_first_y(u8
*v_high_g_first_y_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat3_high_g_first_z(u8
*v_high_g_first_z_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat3_high_g_sign(u8
*v_high_g_sign_u8);
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat3_orient_xy(u8
*v_orient_xy_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat3_orient_z(u8
*v_orient_z_u8);
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_stat3_flat(u8
*flat);
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_temp(s16
*v_temp_s16);
#ifdef FIFO_ENABLE
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_fifo_length(
u32 *v_fifo_length_u32);
BMI160_RETURN_FUNCTION_TYPE bmi160_fifo_data(
u8 *v_fifodata_u8, u16 v_fifo_length_u16);
#endif
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_output_data_rate(
u8 *v_output_data_rate_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_output_data_rate(
u8 v_output_data_rate_u8, u8 v_accel_bw_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_bw(u8 *v_bw_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_bw(u8 v_bw_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_under_sampling_parameter(
u8 *v_accel_under_sampling_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_under_sampling_parameter(
u8 v_accel_under_sampling_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_range(
u8 *v_range_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_range(
u8 v_range_u8);
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_output_data_rate(
u8 *gyro_output_typer);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_output_data_rate(
u8 gyro_output_typer);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_bw(u8 *v_bw_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_bw(u8 v_bw_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_range(
u8 *v_range_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_range(
u8 v_range_u8);
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_mag_output_data_rate(u8 *odr);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_mag_output_data_rate(u8 odr);
#ifdef FIFO_ENABLE
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_fifo_down_gyro(
u8 *v_fifo_down_gyro_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_fifo_down_gyro(
u8 v_fifo_down_gyro_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_fifo_filter_data(
u8 *v_gyro_fifo_filter_data_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_fifo_filter_data(
u8 v_gyro_fifo_filter_data_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_fifo_down_accel(
u8 *v_fifo_down_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_fifo_down_accel(
u8 v_fifo_down_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_fifo_filter_data(
u8 *accel_fifo_filter_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_fifo_filter_data(
u8 v_accel_fifo_filter_u8);
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_fifo_wm(
u8 *v_fifo_wm_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_fifo_wm(
u8 v_fifo_wm_u8);
/**************************************************/
/*************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_fifo_time_enable(
u8 *v_fifo_time_enable_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_fifo_time_enable(
u8 v_fifo_time_enable_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_fifo_tag_intr2_enable(
u8 *v_fifo_tag_intr2_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_fifo_tag_intr2_enable(
u8 v_fifo_tag_intr2_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_fifo_tag_intr1_enable(
u8 *v_fifo_tag_intr1_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_fifo_tag_intr1_enable(
u8 v_fifo_tag_intr1_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_fifo_header_enable(
u8 *v_fifo_header_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_fifo_header_enable(
u8 v_fifo_header_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_fifo_mag_enable(
u8 *v_fifo_mag_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_fifo_mag_enable(
u8 v_fifo_mag_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_fifo_accel_enable(
u8 *v_fifo_accel_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_fifo_accel_enable(
u8 v_fifo_accel_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_fifo_gyro_enable(
u8 *v_fifo_gyro_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_fifo_gyro_enable(
u8 v_fifo_gyro_u8);
#endif
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_i2c_device_addr(
u8 *v_i2c_device_addr_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_i2c_device_addr(
u8 v_i2c_device_addr_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_mag_burst(
u8 *v_mag_burst_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_mag_burst(
u8 v_mag_burst_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_mag_offset(
u8 *v_mag_offset_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_mag_offset(
u8 v_mag_offset_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_mag_manual_enable(
u8 *v_mag_manual_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_mag_manual_enable(
u8 v_mag_manual_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_mag_read_addr(
u8 *v_mag_read_addr_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_mag_read_addr(
u8 v_mag_read_addr_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_mag_write_addr(
u8 *v_mag_write_addr_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_mag_write_addr(
u8 v_mag_write_addr_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_mag_write_data(
u8 *v_mag_write_data_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_mag_write_data(
u8 v_mag_write_data_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_enable_0(
u8 enable, u8 *v_intr_enable_zero_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_enable_0(
u8 enable, u8 v_intr_enable_zero_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_enable_1(
u8 enable, u8 *v_intr_enable_1_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_enable_1(
u8 enable, u8 v_intr_enable_1_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_enable_2(
u8 enable, u8 *v_intr_enable_2_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_enable_2(
u8 enable, u8 v_intr_enable_2_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_step_detector_enable(
u8 *v_step_intr_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_step_detector_enable(
u8 v_step_intr_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_edge_ctrl(
u8 v_channel_u8, u8 *v_intr_edge_ctrl_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_edge_ctrl(
u8 v_channel_u8, u8 v_intr_edge_ctrl_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_level(
u8 v_channel_u8, u8 *v_intr_level_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_level(
u8 v_channel_u8, u8 v_intr_level_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_output_type(
u8 v_channel_u8, u8 *v_intr_output_type_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_output_type(
u8 v_channel_u8, u8 v_intr_output_type_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_output_enable(
u8 v_channel_u8, u8 *v_output_enable_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_output_enable(
u8 v_channel_u8, u8 v_output_enable_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_latch_intr(
u8 *v_latch_intr_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_latch_intr(
u8 v_latch_intr_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_input_enable(
u8 v_channel_u8, u8 *v_input_en_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_input_enable(
u8 v_channel_u8, u8 v_input_en_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_low_g(
u8 v_channel_u8, u8 *v_intr_low_g_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_low_g(
u8 v_channel_u8, u8 v_intr_low_g_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_high_g(
u8 v_channel_u8, u8 *v_intr_high_g_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_high_g(
u8 v_channel_u8, u8 v_intr_high_g_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_any_motion(
u8 v_channel_u8, u8 *v_intr_any_motion_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_any_motion(
u8 v_channel_u8, u8 v_intr_any_motion_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_nomotion(
u8 v_channel_u8, u8 *v_intr_nomotion_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_nomotion(
u8 v_channel_u8, u8 v_intr_nomotion_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_double_tap(
u8 v_channel_u8, u8 *v_intr_double_tap_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_double_tap(
u8 v_channel_u8, u8 v_intr_double_tap_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_single_tap(
u8 v_channel_u8, u8 *v_intr_single_tap_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_single_tap(
u8 v_channel_u8, u8 v_intr_single_tap_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_orient(
u8 v_channel_u8, u8 *v_intr_orient_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_orient(
u8 v_channel_u8, u8 v_intr_orient_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_flat(
u8 v_channel_u8, u8 *v_intr_flat_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_flat(
u8 v_channel_u8, u8 v_intr_flat_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_pmu_trig(
u8 v_channel_u8, u8 *v_intr_pmu_trig_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_pmu_trig(
u8 v_channel_u8, u8 v_intr_pmu_trig_u8);

#ifdef FIFO_ENABLE
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_fifo_full(
u8 v_channel_u8, u8 *v_intr_fifo_full_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_fifo_full(
u8 v_channel_u8, u8 v_intr_fifo_full_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_fifo_wm(
u8 v_channel_u8, u8 *v_intr_fifo_wm_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_fifo_wm(
u8 v_channel_u8, u8 v_intr_fifo_wm_u8);
#endif

BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_data_rdy(
u8 v_channel_u8, u8 *v_intr_data_rdy_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_data_rdy(
u8 v_channel_u8, u8 v_intr_data_rdy_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_tap_source(
u8 *v_tap_source_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_tap_source(
u8 v_tap_source_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_low_high_source(
u8 *v_low_high_source_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_low_high_source(
u8 v_low_high_source_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_motion_source(
u8 *v_motion_source_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_motion_source(
u8 v_motion_source_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_low_g_durn(
u8 *v_low_durn_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_low_g_durn(
u8 v_low_durn_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_low_g_thres(
u8 *v_low_g_thres_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_low_g_thres(
u8 v_low_g_thres_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_low_g_hyst(
u8 *v_low_hyst_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_low_g_hyst(
u8 v_low_hyst_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_low_g_mode(
u8 *v_low_g_mode_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_low_g_mode(
u8 v_low_g_mode_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_high_g_hyst(
u8 *v_high_g_hyst_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_high_g_hyst(
u8 v_high_g_hyst_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_high_g_durn(
u8 *v_high_g_durn_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_high_g_durn(
u8 v_high_g_durn_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_high_g_thres(
u8 *v_high_g_thres_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_high_g_thres(
u8 v_high_g_thres_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_any_motion_durn(
u8 *v_any_motion_durn_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_any_motion_durn(
u8 nomotion);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_slow_no_motion_durn(
u8 *v_slow_no_motion_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_slow_no_motion_durn(
u8 v_slow_no_motion_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_any_motion_thres(
u8 *v_any_motion_thres_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_any_motion_thres(
u8 v_any_motion_thres_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_slow_no_motion_thres(
u8 *v_slow_no_motion_thres_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_slow_no_motion_thres(
u8 v_slow_no_motion_thres_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_slow_no_motion_select(
u8 *v_intr_slow_no_motion_select_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_slow_no_motion_select(
u8 v_intr_slow_no_motion_select_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_significant_motion_select(
u8 *int_sig_mot_sel);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_significant_motion_select(
u8 int_sig_mot_sel);
BMI160_RETURN_FUNCTION_TYPE bmi160_unmap_significant_motion_intr(
u8 v_significant_u8);

BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_significant_motion_skip(
u8 *v_int_sig_mot_skip_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_significant_motion_skip(
u8 v_int_sig_mot_skip_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_significant_motion_proof(
u8 *int_sig_mot_proof);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_significant_motion_proof(
u8 int_sig_mot_proof);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_tap_durn(
u8 *v_tap_durn_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_tap_durn(
u8 v_tap_durn_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_tap_shock(
u8 *v_tap_shock_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_tap_shock(
u8 v_tap_shock_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_tap_quiet(
u8 *v_tap_quiet_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_tap_quiet(
u8 v_tap_quiet_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_tap_thres(
u8 *v_tap_thres_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_tap_thres(
u8 v_tap_thres_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_orient_mode(
u8 *v_orient_mode_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_orient_mode(
u8 v_orient_mode_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_orient_blocking(
u8 *v_orient_blocking_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_orient_blocking(
u8 v_orient_blocking_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_orient_hyst(
u8 *v_orient_hyst_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_orient_hyst(
u8 v_orient_hyst_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_orient_theta(
u8 *v_orient_theta_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_orient_theta(
u8 v_orient_theta_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_orient_ud_enable(
u8 *v_orient_ud_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_orient_ud_enable(
u8 v_orient_ud_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_orient_axes_enable(
u8 *v_orient_axes_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_orient_axes_enable(
u8 v_orient_axes_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_flat_theta(
u8 *v_flat_theta_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_flat_theta(
u8 v_flat_theta_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_flat_hold(
u8 *v_flat_hold_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_flat_hold(
u8 v_flat_hold_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_intr_flat_hyst(
u8 *v_flat_hyst_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_intr_flat_hyst(
u8 v_flat_hyst_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_foc_accel_z(
u8 *v_foc_accel_z_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_foc_accel_z(
u8 v_foc_accel_z_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_foc_accel_y(
u8 *v_foc_accel_y_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_foc_accel_y(
u8 v_foc_accel_y_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_foc_accel_x(
u8 *v_foc_accel_x_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_foc_accel_x(
u8 v_foc_accel_x_u8);
/***************************************************************/
/***************************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_set_foc_gyro_enable(
u8 v_foc_gyro_u8, s16 *v_gyro_off_x_s16,
s16 *v_gyro_off_y_s16, s16 *v_gyro_off_z_s16);
/***************************************************/
/***************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_nvm_prog_enable(
u8 *v_nvm_prog_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_nvm_prog_enable(
u8 v_nvm_prog_u8);
/***************************************************/
/***************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_spi3(
u8 *v_spi3_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_spi3(
u8 v_spi3_u8);
/***************************************************/
/***************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_foc_gyro_enable(
u8 *v_foc_gyro_u8);
/***************************************************/
/***************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_i2c_wdt_select(
u8 *v_i2c_wdt_u8);
BMI160_RETURN_FUNCTION_TYPE
bmi160_set_i2c_wdt_select(u8 v_i2c_wdt_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_i2c_wdt_enable(
u8 *v_i2c_wdt_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_i2c_wdt_enable(
u8 v_i2c_wdt_u8);
/***************************************************/
/***************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_if_mode(
u8 *v_if_mode_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_if_mode(
u8 v_if_mode_u8);
/***************************************************/
/***************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_sleep_trigger(
u8 *v_gyro_sleep_trigger_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_sleep_trigger(
u8 v_gyro_sleep_trigger_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_wakeup_trigger(
u8 *v_gyro_wakeup_trigger_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_wakeup_trigger(
u8 v_gyro_wakeup_trigger_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_sleep_state(
u8 *v_gyro_sleep_state_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_sleep_state(
u8 v_gyro_sleep_state_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_wakeup_intr(
u8 *v_gyro_wakeup_intr_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_wakeup_intr(
u8 v_gyro_wakeup_intr_u8);
/***************************************************/
/***************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_selftest_axis(
u8 *acc_selftest_axis);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_selftest_axis(
u8 acc_selftest_axis);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_selftest_sign(
u8 *acc_selftest_sign);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_selftest_sign(
u8 acc_selftest_sign);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_selftest_amp(
u8 *acc_selftest_amp);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_selftest_amp(
u8 acc_selftest_amp);
/***************************************************/
/***************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_selftest_start(
u8 *v_gyro_selftest_start_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_selftest_start(
u8 v_gyro_selftest_start_u8);
/***************************************************/
/***************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_spi_enable(
u8 *v_spi_enable_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_spi_enable(
u8 v_spi_enable_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_spare0_trim
(u8 *v_spare0_trim_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_spare0_trim
(u8 v_spare0_trim_u8);
/***************************************************/
/***************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_nvm_counter(
u8 *v_nvm_counter_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_nvm_counter(
u8 v_nvm_counter_u8);
/***************************************************/
/***************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_offset_compensation_xaxis(
s8 *v_accel_off_x_s8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_offset_compensation_xaxis(
s8 v_accel_off_x_s8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_offset_compensation_yaxis(
s8 *v_accel_off_y_s8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_offset_compensation_yaxis(
s8 v_accel_off_y_s8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_offset_compensation_zaxis(
s8 *v_accel_off_z_s8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_offset_compensation_zaxis(
s8 v_accel_off_z_s8);
/***************************************************/
/***************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_offset_compensation_xaxis(
s16 *v_gyro_off_x_s16);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_offset_compensation_xaxis(
s16 v_gyro_off_x_s16);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_offset_compensation_yaxis(
s16 *v_gyro_off_y_s16);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_offset_compensation_yaxis(
s16 v_gyro_off_y_s16);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_offset_compensation_zaxis(
s16 *v_gyro_off_z_s16);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_offset_compensation_zaxis(
s16 v_gyro_off_z_s16);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_foc_trigger(u8 axis,
u8 foc_acc, s8 *accel_offset);
BMI160_RETURN_FUNCTION_TYPE bmi160_accel_foc_trigger_xyz(u8 v_foc_accel_x_u8,
u8 v_foc_accel_y_u8, u8 v_foc_accel_z_u8,
s8 *acc_off_x, s8 *acc_off_y, s8 *acc_off_z);
/***************************************************/
/***************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_accel_offset_enable(
u8 *acc_off_en);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_accel_offset_enable(
u8 acc_off_en);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_gyro_offset_enable(
u8 *v_gyro_off_enable_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_gyro_offset_enable(
u8 v_gyro_off_enable_u8);
/***************************************************/
/***************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_read_step_count(s16 *v_step_cnt_s16);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_step_config(
u16 *v_step_config_u16);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_step_config(
u16 v_step_config_u16);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_step_counter_enable(
u8 *v_step_counter_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_step_counter_enable(
u8 v_step_counter_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_step_mode(u8 v_step_mode_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_map_significant_motion_intr(
u8 v_significant_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_map_step_detector_intr(
u8 v_step_detector_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_clear_step_counter(void);
/***************************************************/
/***************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_set_command_register(
u8 v_command_reg_u8);
/***************************************************/
/***************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_get_target_page(
u8 *v_target_page_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_target_page(
u8 v_target_page_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_paging_enable(
u8 *v_page_enable_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_paging_enable(
u8 v_page_enable_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_get_pullup_configuration(
u8 *v_control_pullup_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_pullup_configuration(
u8 v_control_pullup_u8);
/***************************************************/
/***************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_bmm150_mag_interface_init(u8 *v_chip_id_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_bmm150_mag_wakeup(void);
BMI160_RETURN_FUNCTION_TYPE bmi160_read_bmm150_mag_trim(void);
BMI160_RETURN_FUNCTION_TYPE bmi160_bmm150_mag_compensate_xyz(
struct bmi160_mag_xyz_s32_t *mag_comp_xyz);
s32 bmi160_bmm150_mag_compensate_X(s16 v_mag_data_x_s16, u16 v_data_r_u16);
s32 bmi160_bmm150_mag_compensate_Y(s16 v_mag_data_y_s16, u16 v_data_r_u16);
s32 bmi160_bmm150_mag_compensate_Z(s16 v_mag_data_z_s16, u16 v_data_r_u16);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_bmm150_mag_presetmode(u8 mode);
BMI160_RETURN_FUNCTION_TYPE bmi160_bmm150_mag_set_power_mode(u8 mag_pow_mode);
BMI160_RETURN_FUNCTION_TYPE bmi160_set_bmm150_mag_and_secondary_if_power_mode(
u8 v_mag_sec_if_pow_mode_u8);
#if defined AKM09911 || defined AKM09912
/***************************************************/
/***************************************************/

        struct bmi160_bst_akm_xyz_t {
        s32 x;
        s32 y;
        s32 z;
        };
        struct bst_akm_sensitivity_data_t {
        u8 asax;
        u8 asay;
        u8 asaz;
        };
        BMI160_RETURN_FUNCTION_TYPE bmi160_bst_akm_mag_interface_init(
        u8 v_akm_i2c_address_u8);
        BMI160_RETURN_FUNCTION_TYPE bmi160_read_bst_akm_sensitivity_data(void);
        BMI160_RETURN_FUNCTION_TYPE bmi160_bst_akm_set_powermode(
                u8 v_akm_pow_mode_u8);
        BMI160_RETURN_FUNCTION_TYPE
        bmi160_set_bst_akm_and_secondary_if_powermode(
                u8 v_mag_sec_if_pow_mode_u8);

        #endif
        #ifdef AKM09911
        /***************************************************/
        /***************************************************/
        s32 bmi160_bst_akm09911_compensate_X(s16 v_bst_akm_x_s16);
        s32 bmi160_bst_akm09911_compensate_Y(s16 v_bst_akm_y_s16);
        s32 bmi160_bst_akm09911_compensate_Z(s16 v_bst_akm_z_s16);
        BMI160_RETURN_FUNCTION_TYPE bmi160_bst_akm09911_compensate_xyz(
        struct bmi160_bst_akm_xyz_t *bst_akm_xyz);
#endif
 #ifdef AKM09912
 /***************************************************/
/***************************************************/
s32 bmi160_bst_akm09912_compensate_X(s16 v_bst_akm_x_s16);
s32 bmi160_bst_akm09912_compensate_Y(s16 v_bst_akm_y_s16);
s32 bmi160_bst_akm09912_compensate_Z(s16 v_bst_akm_z_s16);
BMI160_RETURN_FUNCTION_TYPE bmi160_bst_akm09912_compensate_xyz(
struct bmi160_bst_akm_xyz_t *bst_akm_xyz);
 #endif

#ifdef FIFO_ENABLE
/***************************************************/
/***************************************************/
BMI160_RETURN_FUNCTION_TYPE bmi160_read_fifo_headerless_mode(
u8 v_mag_if_u8, struct bmi160_fifo_data_header_less_t *headerless_data);
BMI160_RETURN_FUNCTION_TYPE
bmi160_read_fifo_headerless_mode_user_defined_length(
u16 v_fifo_user_length_u16,
struct bmi160_fifo_data_header_less_t *fifo_data, u8 v_mag_if_mag_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_read_fifo_header_data(
u8 v_mag_if_u8, struct bmi160_fifo_data_header_t *header_data);
BMI160_RETURN_FUNCTION_TYPE bmi160_read_fifo_header_data_user_defined_length(
u16 v_fifo_user_length_u16, u8 v_mag_if_mag_u8,
struct bmi160_fifo_data_header_t *fifo_header_data);
#endif

struct bmi160_t *bmi160_get_ptr(void);
BMI160_RETURN_FUNCTION_TYPE bmi160_second_if_mag_compensate_xyz(
struct bmi160_mag_fifo_data_t mag_fifo_data,
u8 v_mag_second_if_u8);
#ifdef YAS537
/***************************************************/
/***************************************************/
struct yas_vector {
        s32 yas537_vector_xyz[3]; 
};
struct bst_yas537_calib_data_t {
s8 a2;
s8 a3;
s8 a4;
s16 a5;
s8 a6;
s8 a7;
s8 a8;
s16 a9;
u8 k;
u8 ver;
};
struct yas537_t {
struct bst_yas537_calib_data_t calib_yas537;
s8 measure_state;
s8 hard_offset[3];
u16 last_after_rcoil[3];
s32 coef[3];
s8 overflow;
u8 dev_id;
u8 average;
const s8 *transform;
u16 last_raw[4];
struct yas_vector xyz; 
};
BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yamaha_yas537_fifo_xyz_data(
u16 *a_xy1y2_u16, u8 v_over_flow_u8, u8 v_rcoil_u8, u8 v_busy_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yamaha_yas537_mag_interface_init(
void);
BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yamaha_yas537_calib_values(
u8 v_rcoil_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yas537_acquisition_command_register(
u8 v_command_reg_data_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yamaha_yas537_read_xy1y2_data(
u8 *v_coil_stat_u8, u8 *v_busy_u8,
u16 *v_temperature_u16, u16 *xy1y2, u8 *v_ouflow_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yamaha_yas537_measure_xyz_data(
u8 *v_ouflow_u8, struct yas_vector *vector_xyz);

#endif

#ifdef YAS532
/***************************************************/
/***************************************************/
struct bst_yas532_calib_data_t {
s32 cx;
s32 cy1;
s32 cy2;
s32 a2;
s32 a3;
s32 a4;
s32 a5;
s32 a6;
s32 a7;
s32 a8;
s32 a9;
s32 k;
s8 rxy1y2[3];
u8 fxy1y2[3];
};
#if 1 < YAS532_MAG_TEMPERATURE_LOG
struct yas_temp_filter_t {
u16 log[YAS532_MAG_TEMPERATURE_LOG];
u8 num;
u8 idx;
};
#endif

struct yas532_t {
struct bst_yas532_calib_data_t calib_yas532;
s8 measure_state;
s8 v_hard_offset_s8[3];
s32 coef[3];
s8 overflow;
u8 dev_id;
const s8 *transform;
#if 1 < YAS532_MAG_TEMPERATURE_LOG
struct yas_temp_filter_t temp_data;
#endif
u16 last_raw[4];
};
struct yas532_vector {
s32 yas532_vector_xyz[3];
};
struct yas532_data {
s32 x;
s32 y;
s32 z;
};
BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yamaha_yas532_mag_interface_init(
void);
BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yas532_set_initial_values(void);
BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yas532_magnetic_measure_set_offset(
void);
BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yamaha_yas532_calib_values(void);
BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yas532_xy1y2_to_linear(
u16 *v_xy1y2_u16, s32 *xy1y2_linear);
BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yas532_normal_measurement_data(
u8 v_acquisition_command_u8, u8 *v_busy_u8,
u16 *v_temp_u16, u16 *v_xy1y2_u16, u8 *v_overflow_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yas532_measurement_xyz_data(
struct yas532_vector *xyz_data, u8 *v_overflow_s8, u8 v_temp_correction_u8,
u8 v_acquisition_command_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yas532_acquisition_command_register(
u8 v_command_reg_data_u8);
BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yas532_set_offset(
const s8 *p_offset_s8);
BMI160_RETURN_FUNCTION_TYPE bmi160_bst_yas532_fifo_xyz_data(
u16 *v_xy1y2_u16, u8 v_temp_correction_u8,
s8 v_overflow_s8, u16 v_temp_u16, u8 v_busy_u8);

#endif
#endif