bma456_an.c

/**
* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
*    notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
*    notice, this list of conditions and the following disclaimer in the
*    documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
*    contributors may be used to endorse or promote products derived from
*    this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file       bma456_an.c
* @date       2023-07-05
* @version    V2.29.0
*
*/

/*! \file bma456_an.c
 * \brief Sensor Driver for BMA456_AN sensor
 */

#include "bma456_an.h"

/**\name Feature configuration file */
const uint8_t bma456_an_config_file[] = {
    0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00,
    0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x58, 0x01, 0x80, 0x2e, 0x42, 0x02, 0xb0, 0xf0,
    0x10, 0x30, 0x21, 0x2e, 0x16, 0xf0, 0x80, 0x2e, 0xf0, 0x00, 0x1f, 0x50, 0x1d, 0x52, 0x01, 0x42, 0x3b, 0x80, 0x41,
    0x30, 0x01, 0x42, 0x3c, 0x80, 0x00, 0x2e, 0x01, 0x40, 0x01, 0x42, 0x21, 0x2e, 0xff, 0xaf, 0xb8, 0x2e, 0x2c, 0x82,
    0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18,
    0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0xfd, 0x2d, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x01, 0x2e, 0x55, 0xf0, 0xc0, 0x2e, 0x21, 0x2e, 0x55, 0xf0, 0x44, 0x47, 0xaa, 0x00, 0x05, 0x00, 0xaa,
    0x00, 0x05, 0x00, 0x42, 0x58, 0x88, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x19, 0x52, 0x0b, 0x50, 0x60, 0x42, 0x00, 0x3f, 0x0d, 0x54, 0x42, 0x42, 0x69, 0x82,
    0x0f, 0x54, 0x42, 0x42, 0x42, 0x82, 0x4b, 0x30, 0x42, 0x40, 0x10, 0x08, 0x50, 0x42, 0x7e, 0x80, 0x4b, 0x42, 0x61,
    0x30, 0x01, 0x42, 0x10, 0x50, 0x03, 0x2e, 0x40, 0xf0, 0x56, 0xb2, 0x08, 0x80, 0x31, 0x30, 0xf0, 0x7f, 0x03, 0x2f,
    0x01, 0x2e, 0x40, 0xf0, 0x1a, 0x90, 0x21, 0x2f, 0x98, 0x2e, 0x1e, 0xb0, 0x03, 0x30, 0x13, 0x50, 0x17, 0x52, 0x11,
    0x54, 0x54, 0x33, 0x06, 0x30, 0x55, 0x32, 0x1d, 0x1a, 0xe3, 0x22, 0x18, 0x1a, 0x15, 0x58, 0xe3, 0x22, 0x04, 0x30,
    0xd5, 0x40, 0xb5, 0x0d, 0xe1, 0xbe, 0x6f, 0xbb, 0x80, 0x91, 0xa9, 0x0d, 0x01, 0x89, 0xb5, 0x23, 0x10, 0xa1, 0xf7,
    0x2f, 0xda, 0x0e, 0x54, 0x33, 0xeb, 0x2f, 0x01, 0x2e, 0x25, 0x00, 0x70, 0x1a, 0x00, 0x30, 0x21, 0x30, 0x48, 0x22,
    0x40, 0xb2, 0x06, 0x2f, 0x23, 0x2e, 0x59, 0xf0, 0x98, 0x2e, 0x3a, 0x00, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0xf0,
    0x6f, 0x01, 0x31, 0x20, 0x26, 0x01, 0x42, 0x10, 0x30, 0x21, 0x2e, 0x59, 0xf0, 0x98, 0x2e, 0x3a, 0x00, 0x01, 0x50,
    0x03, 0x52, 0x98, 0x2e, 0x7f, 0x01, 0x01, 0x50, 0x05, 0x84, 0x13, 0x30, 0x05, 0x50, 0x64, 0x30, 0x07, 0x52, 0x93,
    0x42, 0x84, 0x42, 0x98, 0x2e, 0x7f, 0x01, 0x05, 0x50, 0x06, 0x80, 0x71, 0x30, 0x01, 0x42, 0x00, 0x2e, 0x00, 0x2e,
    0xd0, 0x2e, 0x98, 0x2e, 0xd6, 0x00, 0x01, 0x2e, 0x36, 0x00, 0x00, 0xb2, 0x0d, 0x2f, 0x00, 0x30, 0x21, 0x2e, 0x36,
    0x00, 0x09, 0x50, 0x98, 0x2e, 0x18, 0x01, 0x09, 0x50, 0x01, 0x52, 0x98, 0x2e, 0x90, 0x01, 0x09, 0x50, 0x05, 0x52,
    0x98, 0x2e, 0x90, 0x01, 0x98, 0x2e, 0x3a, 0x00, 0xe6, 0x2d, 0x07, 0x2e, 0x00, 0xf0, 0x03, 0x2e, 0x00, 0xf0, 0x21,
    0x50, 0x9c, 0xbe, 0x02, 0x40, 0x1d, 0x52, 0xf4, 0x33, 0xdc, 0xba, 0xd9, 0x0f, 0x94, 0x08, 0x06, 0x2f, 0x49, 0xaf,
    0x04, 0x2f, 0x51, 0x0a, 0x02, 0x34, 0x47, 0xa3, 0x8a, 0x0a, 0x91, 0x22, 0x3c, 0x80, 0x25, 0x2e, 0x59, 0xf0, 0x01,
    0x40, 0x01, 0x42, 0xb8, 0x2e, 0x1a, 0x24, 0x26, 0x00, 0x80, 0x2e, 0x58, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e,
    0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x46,
    0x00, 0x40, 0x00, 0x4f, 0x00, 0x42, 0x00, 0x37, 0x00, 0xaf, 0x00, 0xff, 0x00, 0xec, 0x00, 0xff, 0xb7, 0x00, 0x02,
    0x00, 0xb0, 0x05, 0x80, 0xc9, 0xf0, 0x88, 0x00, 0x80, 0x00, 0x5e, 0xf0, 0x59, 0xf0, 0x89, 0xf0, 0x3a, 0x00, 0x80,
    0x2e, 0x00, 0xae, 0x44, 0x47, 0xfd, 0x2d, 0x00, 0x0c, 0x60, 0x50, 0x03, 0x2e, 0x45, 0x00, 0xe0, 0x7f, 0xf1, 0x7f,
    0xdb, 0x7f, 0x30, 0x30, 0x1b, 0x54, 0x0a, 0x1a, 0x28, 0x2f, 0x1a, 0x25, 0x7a, 0x82, 0x00, 0x30, 0x43, 0x30, 0x32,
    0x30, 0x05, 0x30, 0x04, 0x30, 0xf6, 0x6f, 0xf2, 0x09, 0xfc, 0x13, 0xc2, 0xab, 0xb3, 0x09, 0xef, 0x23, 0x80, 0xb3,
    0xe6, 0x6f, 0xb7, 0x01, 0x00, 0x2e, 0x8b, 0x41, 0x4b, 0x42, 0x03, 0x2f, 0x46, 0x40, 0x86, 0x17, 0x81, 0x8d, 0x46,
    0x42, 0x41, 0x8b, 0x23, 0xbd, 0xb3, 0xbd, 0x03, 0x89, 0x41, 0x82, 0x07, 0x0c, 0x43, 0xa3, 0xe6, 0x2f, 0xe1, 0x6f,
    0xa2, 0x6f, 0x52, 0x42, 0x00, 0x2e, 0xb2, 0x6f, 0x52, 0x42, 0x00, 0x2e, 0xc2, 0x6f, 0x42, 0x42, 0x03, 0xb2, 0x03,
    0x2e, 0x59, 0xf0, 0xf3, 0x3d, 0x02, 0x32, 0x0b, 0x08, 0x8a, 0x0a, 0xdb, 0x6f, 0x02, 0x22, 0xa0, 0x5f, 0x21, 0x2e,
    0x59, 0xf0, 0xb8, 0x2e, 0x60, 0x50, 0xc3, 0x7f, 0xd4, 0x7f, 0xe7, 0x7f, 0xf6, 0x7f, 0xb2, 0x7f, 0xa5, 0x7f, 0x36,
    0x30, 0x07, 0x2e, 0x01, 0xf0, 0xbe, 0xbd, 0xbe, 0xbb, 0x23, 0x58, 0x77, 0x05, 0x09, 0x56, 0x25, 0x54, 0x27, 0x41,
    0x06, 0x41, 0xf8, 0xbf, 0xbe, 0x0b, 0xb5, 0x11, 0xd6, 0x42, 0x03, 0x89, 0x5a, 0x0e, 0xf6, 0x2f, 0x12, 0x30, 0x25,
    0x2e, 0x36, 0x00, 0x02, 0x31, 0x25, 0x2e, 0xb8, 0xf0, 0xd4, 0x6f, 0xc3, 0x6f, 0xe7, 0x6f, 0xb2, 0x6f, 0xa5, 0x6f,
    0xf6, 0x6f, 0xa0, 0x5f, 0xc8, 0x2e, 0x09, 0x86, 0x02, 0x30, 0x12, 0x42, 0x43, 0x0e, 0xfc, 0x2f, 0x37, 0x80, 0x13,
    0x30, 0x13, 0x42, 0x12, 0x42, 0x12, 0x42, 0x12, 0x42, 0x02, 0x42, 0x03, 0x80, 0x41, 0x84, 0x11, 0x42, 0x02, 0x42,
    0xb8, 0x2e, 0x46, 0x84, 0x80, 0x50, 0xa3, 0x40, 0x83, 0x88, 0x82, 0x40, 0x04, 0x41, 0xc3, 0x7f, 0x42, 0x8a, 0x06,
    0x41, 0x6d, 0xbb, 0xf6, 0x7f, 0x80, 0xb3, 0xd5, 0x7f, 0xe0, 0x7f, 0x59, 0x2f, 0x31, 0x25, 0x55, 0x40, 0x41, 0x91,
    0xb1, 0x7f, 0x0f, 0x2f, 0x01, 0x30, 0xc1, 0x42, 0x00, 0x2e, 0xd2, 0x6f, 0x13, 0x40, 0x93, 0x42, 0x00, 0x2e, 0x13,
    0x40, 0x93, 0x42, 0x00, 0x2e, 0x00, 0x40, 0x80, 0x42, 0xbd, 0x80, 0xc0, 0x2e, 0x01, 0x42, 0x80, 0x5f, 0xc7, 0x86,
    0x01, 0x30, 0xc5, 0x40, 0xfb, 0x86, 0x45, 0x41, 0x04, 0x41, 0x43, 0xbe, 0xd5, 0xbe, 0x43, 0xba, 0xd5, 0xba, 0x84,
    0x7f, 0x95, 0x7f, 0xa1, 0x7f, 0x14, 0x30, 0x61, 0x15, 0xf5, 0x09, 0x15, 0x40, 0xc0, 0xb3, 0x0b, 0x2f, 0xc6, 0x40,
    0xae, 0x05, 0x07, 0x30, 0xfe, 0x05, 0x80, 0xa9, 0xb7, 0x23, 0x97, 0x6f, 0x77, 0x0f, 0xa6, 0x6f, 0xe6, 0x23, 0xf6,
    0x6f, 0xa7, 0x7f, 0x80, 0x90, 0x00, 0x2f, 0xc5, 0x42, 0x41, 0x82, 0xc1, 0x86, 0x43, 0xa2, 0xe7, 0x2f, 0xa1, 0x6f,
    0xb0, 0x6f, 0x0a, 0x1a, 0x02, 0x2f, 0x01, 0x30, 0x1b, 0x2c, 0x01, 0x42, 0x01, 0x40, 0x4c, 0x28, 0x82, 0x6f, 0x01,
    0x42, 0x4a, 0x0e, 0x13, 0x2f, 0xc0, 0x6f, 0x00, 0xb2, 0x03, 0x2f, 0x3f, 0x80, 0x20, 0x14, 0x21, 0x2e, 0x5e, 0xf0,
    0xe1, 0x6f, 0xd0, 0x6f, 0x52, 0x40, 0x12, 0x42, 0x00, 0x2e, 0x52, 0x40, 0x12, 0x42, 0x00, 0x2e, 0x41, 0x40, 0x03,
    0x2c, 0x01, 0x42, 0x10, 0x30, 0x40, 0x42, 0x80, 0x5f, 0xb8, 0x2e, 0x80, 0x2e, 0x18, 0x00, 0xfd, 0x2d, 0x30, 0x50,
    0x2a, 0x25, 0xbd, 0x84, 0xfb, 0x7f, 0x8b, 0x31, 0x27, 0x56, 0x83, 0x42, 0xeb, 0x7f, 0x06, 0x30, 0x14, 0x30, 0x05,
    0x30, 0x0d, 0x2c, 0x13, 0x56, 0x43, 0x1a, 0x02, 0x2f, 0x4e, 0x04, 0x06, 0x30, 0x15, 0x50, 0xec, 0x09, 0xd7, 0x01,
    0x41, 0x8b, 0xcb, 0x41, 0xc6, 0x01, 0x81, 0x8d, 0xcb, 0x43, 0x31, 0x0e, 0xf1, 0x2f, 0xfb, 0x6f, 0xd0, 0x5f, 0xb8,
    0x2e, 0x10, 0x50, 0x01, 0x2e, 0x35, 0x00, 0x00, 0xb2, 0xfb, 0x7f, 0x19, 0x2f, 0x29, 0x56, 0x2f, 0x52, 0x13, 0x54,
    0xc3, 0x00, 0x48, 0x04, 0xc2, 0x0f, 0x18, 0x22, 0x41, 0xb2, 0x0e, 0x2f, 0x12, 0x30, 0x8a, 0x08, 0x80, 0xb2, 0x06,
    0x2f, 0x7f, 0x82, 0x98, 0x2e, 0x00, 0xb0, 0x2d, 0x52, 0x23, 0x2e, 0xff, 0xb9, 0x06, 0x2d, 0xfb, 0x6f, 0xf0, 0x5f,
    0x80, 0x2e, 0x00, 0xb0, 0x2b, 0x52, 0x01, 0x42, 0x00, 0x2e, 0xfb, 0x6f, 0xf0, 0x5f, 0xb8, 0x2e, 0x10, 0x24, 0x58,
    0x02, 0x11, 0x24, 0x00, 0x0c, 0x12, 0x24, 0x80, 0x2e, 0x13, 0x24, 0x18, 0x00, 0x12, 0x42, 0x13, 0x42, 0x41, 0x1a,
    0xfb, 0x2f, 0x10, 0x24, 0x50, 0x39, 0x11, 0x24, 0x21, 0x2e, 0x21, 0x2e, 0x10, 0x00, 0x23, 0x2e, 0x11, 0x00, 0x80,
    0x2e, 0x10, 0x00
};

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

/**\name        Function definitions
 ****************************************************************************/

/*!
 * @brief This API is the entry point.
 * Call this API before using all other APIs.
 * This API reads the chip-id of the sensor and sets the resolution.
 */
int8_t bma456_an_init(struct bma4_dev *dev)
{
    int8_t rslt;

    /* Structure to define the default values for axes re-mapping */
    struct bma4_axes_remap axes_remap = {
        .x_axis = BMA4_MAP_X_AXIS, .x_axis_sign = BMA4_MAP_POSITIVE, .y_axis = BMA4_MAP_Y_AXIS,
        .y_axis_sign = BMA4_MAP_POSITIVE, .z_axis = BMA4_MAP_Z_AXIS, .z_axis_sign = BMA4_MAP_POSITIVE
    };

    rslt = bma4_init(dev);
    if (rslt == BMA4_OK)
    {
        if ((dev->chip_id == BMA456_AN_CHIP_ID_PRIM) || (dev->chip_id == BMA456_AN_CHIP_ID_SEC))
        {
            /* Resolution of BMA456_AN sensor is 16 bit */
            dev->resolution = BMA4_16_BIT_RESOLUTION;

            dev->feature_len = BMA456_AN_FEATURE_SIZE;

            dev->config_size = sizeof(bma456_an_config_file);

            /* Set the default values for axis
             *  re-mapping in the device structure
             */
            dev->remap = axes_remap;
        }
        else
        {
            rslt = BMA4_E_INVALID_SENSOR;
        }
    }

    return rslt;
}

/*!
 * @brief This API is used to upload the configuration file to enable the
 * features of the sensor.
 */
int8_t bma456_an_write_config_file(struct bma4_dev *dev)
{
    int8_t rslt = BMA4_OK;

    if (dev != NULL)
    {
        if ((dev->chip_id == BMA456_AN_CHIP_ID_PRIM) || (dev->chip_id == BMA456_AN_CHIP_ID_SEC))
        {
            /* Configuration stream read/write length boundary
             * check
             */
            if ((dev->read_write_len >= BMA456_AN_RD_WR_MIN_LEN) && (dev->read_write_len <= BMA456_AN_RD_WR_MAX_LEN))
            {
                /* Even or odd check */
                if ((dev->read_write_len % 2) != 0)
                {
                    dev->read_write_len = dev->read_write_len - 1;
                }

                /* Assign stream data */
                dev->config_file_ptr = bma456_an_config_file;
                rslt = bma4_write_config_file(dev);
            }
            else
            {
                rslt = BMA4_E_RD_WR_LENGTH_INVALID;
            }
        }
        else
        {
            rslt = BMA4_E_INVALID_SENSOR;
        }
    }
    else
    {
        rslt = BMA4_E_NULL_PTR;
    }

    return rslt;
}

/*!
 * @brief This API is used to get the config file major and minor information.
 */
int8_t bma456_an_get_version_config(uint16_t *config_major, uint16_t *config_minor, struct bma4_dev *dev)
{
    /* Initialize configuration file */
    uint8_t feature_config[BMA456_AN_FEATURE_SIZE] = { 0 };

    /* Update index to config file version */
    uint8_t index = BMA456_AN_CONFIG_ID_OFFSET;

    /* Variable to define LSB */
    uint8_t lsb = 0;

    /* Variable to define MSB */
    uint8_t msb = 0;

    /* Variable to define LSB and MSB */
    uint16_t lsb_msb = 0;

    /* Result of api are returned to this variable */
    int8_t rslt = BMA4_OK;

    if ((config_major != NULL) && (config_minor != NULL))
    {
        rslt = bma4_set_advance_power_save(BMA4_DISABLE, dev);

        if (rslt == BMA4_OK)
        {
            /* Wait for sensor time synchronization. Refer the data-sheet for
             * more information
             */
            dev->delay_us(450, dev->intf_ptr);

            /* Get config file identification from the sensor */
            rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_AN_FEATURE_SIZE, dev);

            if (rslt == BMA4_OK)
            {
                /* Get word to calculate config file identification */
                lsb = feature_config[index++];
                msb = feature_config[index++];

                lsb_msb = (uint16_t)(msb << 8 | lsb);

                /* Get major and minor version */
                *config_major = BMA4_GET_BITSLICE(lsb_msb, BMA4_CONFIG_MAJOR);
                *config_minor = BMA4_GET_BITS_POS_0(lsb, BMA4_CONFIG_MINOR);
            }
        }
    }
    else
    {
        rslt = BMA4_E_NULL_PTR;
    }

    return rslt;
}

/*!
 * @brief This API sets/un-sets the user provided interrupt to either interrupt
 * pin1 or pin2 in the sensor.
 */
int8_t bma456_an_map_interrupt(uint8_t int_line, uint16_t int_map, uint8_t enable, struct bma4_dev *dev)
{
    int8_t rslt = BMA4_OK;

    if (dev != NULL)
    {
        if ((dev->chip_id == BMA456_AN_CHIP_ID_PRIM) || (dev->chip_id == BMA456_AN_CHIP_ID_SEC))
        {
            if (int_line <= 1)
            {
                /* Map/Unmap the interrupt */
                rslt = bma4_map_interrupt(int_line, int_map, enable, dev);
            }
            else
            {
                rslt = BMA4_E_INT_LINE_INVALID;
            }
        }
        else
        {
            rslt = BMA4_E_INVALID_SENSOR;
        }
    }
    else
    {
        rslt = BMA4_E_NULL_PTR;
    }

    return rslt;
}

/*!
 * @brief This API reads the bma456_an interrupt status from the sensor.
 */
int8_t bma456_an_read_int_status(uint16_t *int_status, struct bma4_dev *dev)
{
    int8_t rslt = BMA4_OK;

    if ((dev != NULL) && (int_status != NULL))
    {
        if ((dev->chip_id == BMA456_AN_CHIP_ID_PRIM) || (dev->chip_id == BMA456_AN_CHIP_ID_SEC))
        {
            /* Read the interrupt status */
            rslt = bma4_read_int_status(int_status, dev);
        }
        else
        {
            rslt = BMA4_E_INVALID_SENSOR;
        }
    }
    else
    {
        rslt = BMA4_E_NULL_PTR;
    }

    return rslt;
}

/*!
 * @brief This API performs x, y and z axis remapping in the sensor.
 */
int8_t bma456_an_set_remap_axes(const struct bma4_remap *remap_axes, struct bma4_dev *dev)
{
    uint8_t feature_config[BMA456_AN_FEATURE_SIZE] = { 0 };
    uint8_t index = BMA456_AN_AXES_REMAP_OFFSET;
    int8_t rslt = BMA4_OK;

    if (remap_axes != NULL)
    {
        rslt = bma4_set_remap_axes(remap_axes, feature_config, index, BMA456_AN_FEATURE_SIZE, dev);
    }
    else
    {
        rslt = BMA4_E_NULL_PTR;
    }

    return rslt;
}

/*!
 * @brief This API reads the x, y and z axis remap data from the sensor.
 */
int8_t bma456_an_get_remap_axes(struct bma4_remap *remap_axes, struct bma4_dev *dev)
{
    uint8_t feature_config[BMA456_AN_FEATURE_SIZE] = { 0 };
    uint8_t index = BMA456_AN_AXES_REMAP_OFFSET;
    int8_t rslt = BMA4_OK;

    if (remap_axes != NULL)
    {
        rslt = bma4_get_remap_axes(remap_axes, feature_config, index, BMA456_AN_FEATURE_SIZE, dev);
    }
    else
    {
        rslt = BMA4_E_NULL_PTR;
    }

    return rslt;
}

/*!
 * @brief This API sets the configuration of any-motion feature in the sensor.
 * This API enables/disables the any-motion feature according to the axis set.
 */
int8_t bma456_an_set_any_mot_config(const struct bma456_an_any_no_mot_config *any_motion, struct bma4_dev *dev)
{
    /* Variable to define error */
    int8_t rslt = BMA4_OK;

    /* Initialize configuration file */
    uint8_t feature_config[BMA456_AN_FEATURE_SIZE] = { 0 };

    /* Update index to configure any-motion axes */
    uint8_t index = BMA456_AN_ANY_MOT_OFFSET;

    /* Variable to define LSB */
    uint16_t lsb = 0;

    /* Variable to define MSB */
    uint16_t msb = 0;

    /* Variable to define LSB and MSB */
    uint16_t lsb_msb = 0;

    if ((dev != NULL) && (any_motion != NULL))
    {
        /* Get any-motion configuration from the sensor */
        rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_AN_ANY_MOT_LEN, dev);
        if (rslt == BMA4_OK)
        {
            /* Set threshold value in feature configuration array */
            feature_config[index++] = BMA4_GET_LSB(any_motion->threshold);
            feature_config[index++] = BMA4_GET_MSB(any_motion->threshold);

            /* Extract the word where duration and axes enable
             * resides
             */
            lsb = feature_config[index];
            msb = feature_config[index + 1] << 8;
            lsb_msb = lsb | msb;

            /* Set the duration in the same word */
            lsb_msb = BMA4_SET_BITS_POS_0(lsb_msb, BMA456_AN_ANY_NO_MOT_DUR, any_motion->duration);

            /* Set the axes in the same word */
            lsb_msb = BMA4_SET_BITSLICE(lsb_msb, BMA456_AN_ANY_NO_MOT_AXIS_EN, any_motion->axes_en);

            /* Assign the word with set duration and axes enable
             * value back to feature configuration array
             */
            feature_config[index++] = BMA4_GET_LSB(lsb_msb);
            feature_config[index] = BMA4_GET_MSB(lsb_msb);

            /* Set any-motion configuration to the sensor */
            rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_AN_ANY_MOT_LEN, dev);
        }
    }
    else
    {
        rslt = BMA4_E_NULL_PTR;
    }

    return rslt;
}

/*!
 * @brief This API gets the configuration of any-motion feature from the
 * sensor.
 */
int8_t bma456_an_get_any_mot_config(struct bma456_an_any_no_mot_config *any_motion, struct bma4_dev *dev)
{
    /* Variable to define error */
    int8_t rslt = BMA4_OK;

    /* Initialize configuration file */
    uint8_t feature_config[BMA456_AN_FEATURE_SIZE] = { 0 };

    /* Update index to configure any-motion axes */
    uint8_t index = BMA456_AN_ANY_MOT_OFFSET;

    /* Variable to define LSB */
    uint16_t lsb = 0;

    /* Variable to define MSB */
    uint16_t msb = 0;

    /* Variable to define LSB and MSB */
    uint16_t lsb_msb = 0;

    if ((dev != NULL) && (any_motion != NULL))
    {
        /* Get any-motion configuration from the sensor */
        rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_AN_ANY_MOT_LEN, dev);
        if (rslt == BMA4_OK)
        {
            /* Get word to calculate threshold and any-motion
             * select
             */
            lsb = (uint16_t)feature_config[index++];
            msb = ((uint16_t)feature_config[index++] << 8);
            lsb_msb = lsb | msb;

            /* Extract threshold value */
            any_motion->threshold = lsb_msb & BMA456_AN_ANY_NO_MOT_THRES_MSK;

            /* Get word to calculate duration and axes enable */
            lsb = (uint16_t)feature_config[index++];
            msb = ((uint16_t)feature_config[index] << 8);
            lsb_msb = lsb | msb;

            /* Extract duration value */
            any_motion->duration = lsb_msb & BMA456_AN_ANY_NO_MOT_DUR_MSK;

            /* Extract axes enable value */
            any_motion->axes_en =
                (uint8_t)((lsb_msb & BMA456_AN_ANY_NO_MOT_AXIS_EN_MSK) >> BMA456_AN_ANY_NO_MOT_AXIS_EN_POS);
        }
    }
    else
    {
        rslt = BMA4_E_NULL_PTR;
    }

    return rslt;
}

/*!
 * @brief This API sets the configuration of no-motion feature in the sensor.
 * This API enables/disables the no-motion feature according to the axis set.
 */
int8_t bma456_an_set_no_mot_config(const struct bma456_an_any_no_mot_config *no_motion, struct bma4_dev *dev)
{
    /* Variable to define error */
    int8_t rslt = BMA4_OK;

    /* Initialize configuration file */
    uint8_t feature_config[BMA456_AN_FEATURE_SIZE] = { 0 };

    /* Update index to configure no-motion axes */
    uint8_t index = BMA456_AN_NO_MOT_OFFSET;

    /* Variable to define LSB */
    uint16_t lsb = 0;

    /* Variable to define MSB */
    uint16_t msb = 0;

    /* Variable to define LSB and MSB */
    uint16_t lsb_msb = 0;

    if ((dev != NULL) && (no_motion != NULL))
    {
        /* Get no-motion configuration from the sensor */
        rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_AN_NO_MOT_RD_WR_LEN, dev);
        if (rslt == BMA4_OK)
        {
            /* Set threshold value in feature configuration array */
            feature_config[index++] = BMA4_GET_LSB(no_motion->threshold);
            feature_config[index++] = BMA4_GET_MSB(no_motion->threshold);

            /* Extract the word where duration and axes enable
             * resides
             */
            lsb = feature_config[index];
            msb = feature_config[index + 1] << 8;
            lsb_msb = lsb | msb;

            /* Set the duration in the same word */
            lsb_msb = BMA4_SET_BITS_POS_0(lsb_msb, BMA456_AN_ANY_NO_MOT_DUR, no_motion->duration);

            /* Set the axes in the same word */
            lsb_msb = BMA4_SET_BITSLICE(lsb_msb, BMA456_AN_ANY_NO_MOT_AXIS_EN, no_motion->axes_en);

            /* Assign the word with set duration and axes enable
             * value back to feature configuration array
             */
            feature_config[index++] = BMA4_GET_LSB(lsb_msb);
            feature_config[index] = BMA4_GET_MSB(lsb_msb);

            /* Set no-motion configuration to the sensor */
            rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_AN_NO_MOT_RD_WR_LEN, dev);
        }
    }
    else
    {
        rslt = BMA4_E_NULL_PTR;
    }

    return rslt;
}

/*!
 * @brief This API gets the configuration of no-motion feature from the
 * sensor.
 */
int8_t bma456_an_get_no_mot_config(struct bma456_an_any_no_mot_config *no_motion, struct bma4_dev *dev)
{
    /* Variable to define error */
    int8_t rslt = BMA4_OK;

    /* Initialize configuration file */
    uint8_t feature_config[BMA456_AN_FEATURE_SIZE] = { 0 };

    /* Update index to configure no-motion axes */
    uint8_t index = BMA456_AN_NO_MOT_OFFSET;

    /* Variable to define LSB */
    uint16_t lsb = 0;

    /* Variable to define MSB */
    uint16_t msb = 0;

    /* Variable to define LSB and MSB */
    uint16_t lsb_msb = 0;

    if ((dev != NULL) && (no_motion != NULL))
    {
        /* Get no-motion configuration from the sensor */
        rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_AN_NO_MOT_RD_WR_LEN, dev);
        if (rslt == BMA4_OK)
        {
            /* Get word to calculate threshold and no-motion
             * select
             */
            lsb = (uint16_t)feature_config[index++];
            msb = ((uint16_t)feature_config[index++] << 8);
            lsb_msb = lsb | msb;

            /* Extract threshold value */
            no_motion->threshold = lsb_msb & BMA456_AN_ANY_NO_MOT_THRES_MSK;

            /* Get word to calculate duration and axes enable */
            lsb = (uint16_t)feature_config[index++];
            msb = ((uint16_t)feature_config[index] << 8);
            lsb_msb = lsb | msb;

            /* Extract duration value */
            no_motion->duration = lsb_msb & BMA456_AN_ANY_NO_MOT_DUR_MSK;

            /* Extract axes enable value */
            no_motion->axes_en =
                (uint8_t)((lsb_msb & BMA456_AN_ANY_NO_MOT_AXIS_EN_MSK) >> BMA456_AN_ANY_NO_MOT_AXIS_EN_POS);
        }
    }
    else
    {
        rslt = BMA4_E_NULL_PTR;
    }

    return rslt;
}

/*! @endcond */