bmg160.h

/**
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
*    notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
*    notice, this list of conditions and the following disclaimer in the
*    documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
*    contributors may be used to endorse or promote products derived from
*    this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bmg160.h
* @date 10/01/2020
* @version  2.0.12
*
*/

/*! \file BMG160.h
 * \brief Header for BMG160 API
 */

/* user defined code to be added here ... */
#ifndef __BMG160_H__
#define __BMG160_H__

/*!
 * @brief The following definition uses for define the data types
 *
 * @note While porting the API please consider the following
 * @note Please check the version of C standard
 * @note Are you using Linux platform
 */

/*!
 * @brief For the Linux platform support
 * Please use the types.h for your data types definitions
 */
#ifdef __KERNEL__

#include <linux/types.h>

/* singed integer type*/
typedef int8_t s8; /**< used for signed 8bit */
typedef int16_t s16; /**< used for signed 16bit */
typedef int32_t s32; /**< used for signed 32bit */
typedef int64_t s64; /**< used for signed 64bit */
typedef u_int8_t u8; /**< used for unsigned 8bit */
typedef u_int16_t u16; /**< used for unsigned 16bit */
typedef u_int32_t u32; /**< used for unsigned 32bit */
typedef u_int64_t u64; /**< used for unsigned 64bit */

#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; /**< used for unsigned 8bit */
typedef uint16_t u16; /**< used for unsigned 16bit */
typedef uint32_t u32; /**< used for unsigned 32bit */
typedef uint64_t u64; /**< used for unsigned 64bit */
/*signed integer types*/
typedef int8_t s8; /**< used for signed 8bit */
typedef int16_t s16; /**< used for signed 16bit */
typedef int32_t s32; /**< used for signed 32bit */
typedef int64_t s64; /**< used for signed 64bit */

/************************************************
* 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; /**< used for unsigned 8bit */
typedef uint16_t u16; /**< used for unsigned 16bit */
typedef uint32_t u32; /**< used for unsigned 32bit */
typedef uint64_t u64; /**< used for unsigned 64bit */
/*signed integer types*/
typedef int8_t s8; /**< used for signed 8bit */
typedef int16_t s16; /**< used for signed 16bit */
typedef int32_t s32; /**< used for signed 32bit */
typedef int64_t s64; /**< used for signed 64bit */

/************************************************
* compiler is C89 or other C standard
************************************************/

#else /*  !defined(__STDC_VERSION__) */

/*!
 * @brief By default it is defined as 32 bit machine configuration
 *  define your data types based on your
 *  machine/compiler/controller configuration
 */
#define  MACHINE_32_BIT

/*! @brief
 *  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; /**< used for signed 8bit */
typedef signed short int s16; /**< used for signed 16bit */
typedef signed long int s32; /**< used for signed 32bit */

#if defined(LONG_MAX) && LONG_MAX == 0x7fffffffffffffffL
typedef long int s64; /**< used for signed 64bit */
typedef unsigned long int u64; /**< used for unsigned 64bit */
#elif defined(LLONG_MAX) && (LLONG_MAX == 0x7fffffffffffffffLL)
typedef long long int s64; /**< used for signed 64bit */
typedef unsigned long long int u64; /**< used for unsigned 64bit */
#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; /**< used for unsigned 8bit */
typedef unsigned short int u16; /**< used for unsigned 16bit */
typedef unsigned long int u32; /**< used for unsigned 32bit */

/* If your machine support 32 bit
 * define the MACHINE_32_BIT
 */
#elif defined MACHINE_32_BIT

/*signed integer types*/
typedef signed char s8; /**< used for signed 8bit */
typedef signed short int s16; /**< used for signed 16bit */
typedef signed int s32; /**< used for signed 32bit */
typedef signed long long int s64; /**< used for signed 64bit */
/*unsigned integer types*/
typedef unsigned char u8; /**< used for unsigned 8bit */
typedef unsigned short int u16; /**< used for unsigned 16bit */
typedef unsigned int u32; /**< used for unsigned 32bit */
typedef unsigned long long int u64; /**< used for unsigned 64bit */

/* If your machine support 64 bit
 * define the MACHINE_64_BIT
 */
#elif defined MACHINE_64_BIT

/*signed integer types*/
typedef signed char s8; /**< used for signed 8bit */
typedef signed short int s16; /**< used for signed 16bit */
typedef signed int s32; /**< used for signed 32bit */
typedef signed long int s64; /**< used for signed 64bit */
/*unsigned integer types*/
typedef unsigned char u8; /**< used for unsigned 8bit */
typedef unsigned short int u16; /**< used for unsigned 16bit */
typedef unsigned int u32; /**< used for unsigned 32bit */
typedef unsigned long int u64; /**< used for unsigned 64bit */

#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

/*!
 * @brief By default it is defined as 32 bit machine configuration
 *  define your data types based on your
 *  machine/compiler/controller configuration
 */
#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; /**< used for signed 8bit */
typedef signed short int s16; /**< used for signed 16bit */
typedef signed long int s32; /**< used for signed 32bit */

#if defined(LONG_MAX) && LONG_MAX == 0x7fffffffffffffffL
typedef long int s64; /**< used for signed 64bit */
typedef unsigned long int u64; /**< used for unsigned 64bit */
#elif defined(LLONG_MAX) && (LLONG_MAX == 0x7fffffffffffffffLL)
typedef long long int s64; /**< used for signed 64bit */
typedef unsigned long long int u64; /**< used for unsigned 64bit */
#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; /**< used for unsigned 8bit */
typedef unsigned short int u16; /**< used for unsigned 16bit */
typedef unsigned long int u32; /**< used for unsigned 32bit */

/*! @brief If your machine support 32 bit
 * define the MACHINE_32_BIT
 */
#elif defined MACHINE_32_BIT

/*signed integer types*/
typedef signed char s8; /**< used for signed 8bit */
typedef signed short int s16; /**< used for signed 16bit */
typedef signed int s32; /**< used for signed 32bit */
typedef signed long long int s64; /**< used for signed 64bit */
/*unsigned integer types*/
typedef unsigned char u8; /**< used for unsigned 8bit */
typedef unsigned short int u16; /**< used for unsigned 16bit */
typedef unsigned int u32; /**< used for unsigned 32bit */
typedef unsigned long long int u64; /**< used for unsigned 64bit */

/* If your machine support 64 bit
 * define the MACHINE_64_BIT
 */
#elif defined MACHINE_64_BIT

/*signed integer types*/
typedef signed char s8; /**< used for signed 8bit */
typedef signed short int s16; /**< used for signed 16bit */
typedef signed int s32; /**< used for signed 32bit */
typedef signed long int s64; /**< used for signed 64bit */
/*unsigned integer types*/
typedef unsigned char u8; /**< used for unsigned 8bit */
typedef unsigned short int u16; /**< used for unsigned 16bit */
typedef unsigned int u32; /**< used for unsigned 32bit */
typedef unsigned long int u64; /**< used for unsigned 64bit */

#else
#warning The data types defined above which not supported \
    define the data types manually
#endif
#endif
#endif

/***************************************************************/
/**\name    BUS READ AND WRITE FUNCTION POINTERS        */
/***************************************************************/

/*!
 * @brief Define the calling convention of YOUR bus communication routine.
 * @note This includes types of parameters. This example shows the
 * configuration for an SPI bus link.
 *
 * If your communication function looks like this:
 *
 * write_my_bus_xy(u8 device_addr, u8 register_addr,
 * u8 * data, u8 length);
 *
 * The BMG160_WR_FUNC_PTR would equal:
 *
 * BMG160_WR_FUNC_PTR s8 (* bus_write)(u8,
 * u8, u8 *, u8)
 *
 * Parameters can be mixed as needed refer to the
 * refer BMG160_BUS_WRITE_FUNC  macro.
 *
 *
 */

/* defines the calling parameter types of the BMG160_WR_FUNCTION */
#define BMG160_BUS_WR_RETURN_TYPE s8

/* links the order of parameters defined in
 * BMG160_BUS_WR_PARAM_TYPE to function calls used inside the API
 */
#define BMG160_BUS_WR_PARAM_TYPES u8, u8, \
    u8 *, u8

/* links the order of parameters defined in
 * BMG160_BUS_WR_PARAM_TYPE to function calls used inside the API
 */
#define BMG160_BUS_WR_PARAM_ORDER(device_addr, register_addr, \
                                  register_data, wr_len)

/* never change this line */
#define BMG160_BUS_WRITE_FUNC(device_addr, register_addr, \
                              register_data, wr_len) bus_write(device_addr, register_addr, \
                                                               register_data, wr_len)

/**< link macro between API function calls and bus read function
 * @note The bus write function can change since this is a
 * system dependant issue.
 *
 * If the bus_read parameter calling order is like: reg_addr,
 * reg_data, wr_len it would be as it is here.
 *
 * If the parameters are differently ordered or your communication
 * function like I2C need to know the device address,
 * you can change this macro accordingly.
 *
 *
 * BMG160_BUS_READ_FUNC(dev_addr, reg_addr, reg_data, wr_len)\
 * bus_read(dev_addr, reg_addr, reg_data, wr_len)
 *
 * This macro lets all API functions call YOUR communication routine in a
 * way that equals your definition in the
 * refer BMG160_WR_FUNC_PTR definition.
 *
 * @note: this macro also includes the "MSB='1'
 * for reading BMG160 addresses.
 *
 */

/*defines the return parameter type of the BMG160_RD_FUNCTION
 */
#define BMG160_BUS_RD_RETURN_TYPE s8

/* defines the calling parameter types of the BMG160_RD_FUNCTION
 */
#define BMG160_BUS_RD_PARAM_TYPES u8, u8, \
    u8 *, u8

/* links the order of parameters defined in \
 * BMG160_BUS_RD_PARAM_TYPE to function calls used inside the API
 */
#define BMG160_BUS_RD_PARAM_ORDER (device_addr, register_addr, \
                                   register_data)

/* never change this line */
#define BMG160_BUS_READ_FUNC(device_addr, register_addr, \
                             register_data, rd_len)bus_read(device_addr, register_addr, \
                                                            register_data, rd_len)

/* defines the return parameter type of the BMG160_RD_FUNCTION
 */
#define BMG160_BURST_RD_RETURN_TYPE s8

/* defines the calling parameter types of the BMG160_RD_FUNCTION
 */
#define BMG160_BURST_RD_PARAM_TYPES u8, \
    u8, u8 *, s32

/* links the order of parameters defined in \
 * BMG160_BURST_RD_PARAM_TYPE to function calls used inside the API
 */
#define BMG160_BURST_RD_PARAM_ORDER (device_addr, register_addr, \
                                     register_data)

/* never change this line */
#define BMG160_BURST_READ_FUNC(device_addr, register_addr, \
                               register_data, rd_len) burst_read(device_addr, \
                                                                 register_addr, register_data, rd_len)

/*!
 * @brief defines the return parameter type of the BMG160_DELAY_FUNCTION
 */
#define BMG160_DELAY_RETURN_TYPE    void

/* never change this line */
#define BMG160_DELAY_FUNC(delay_in_msec) \
    delay_func(delay_in_msec)

#define BMG160_RETURN_FUNCTION_TYPE s8

/*This refers BMG160 return type as signed */
/***************************************************************/
/**\name    DEVICE ADDRESS OF BMG160       */
/***************************************************************/
#define BMG160_I2C_ADDR1 (0x68)
#define BMG160_I2C_ADDR2 (0x69)

/***************************************************************/
/**\name    REGISTER ADDRESS DEFINITION        */
/***************************************************************/
/*******************************************/
/**\name    CHIP ID       */
/*******************************************/
#define BMG160_CHIP_ID_ADDR (0x00)

/**<Address of Chip ID Register*/
/*******************************************/
/**\name    DATA REGISTER       */
/*******************************************/
#define BMG160_RATE_X_LSB_ADDR (0x02)

/**<        Address of X axis Rate LSB Register       */
#define BMG160_RATE_X_MSB_ADDR (0x03)

/**<        Address of X axis Rate MSB Register       */
#define BMG160_RATE_Y_LSB_ADDR (0x04)

/**<        Address of Y axis Rate LSB Register       */
#define BMG160_RATE_Y_MSB_ADDR (0x05)

/**<        Address of Y axis Rate MSB Register       */
#define BMG160_RATE_Z_LSB_ADDR (0x06)

/**<        Address of Z axis Rate LSB Register       */
#define BMG160_RATE_Z_MSB_ADDR (0x07)

/**<        Address of Z axis Rate MSB Register       */
#define BMG160_TEMP_ADDR       (0x08)

/**<        Address of Temperature Data LSB Register  */
/*******************************************/
/**\name    STATUS REGISTER     */
/*******************************************/
#define BMG160_INTR_STAT0_ADDR (0x09)

/**<        Address of Interrupt status Register    */
#define BMG160_INTR_STAT1_ADDR (0x0A)

/**<        Address of Interrupt status Register     */
#define BMG160_INTR_STAT2_ADDR (0x0B)

/**<        Address of Interrupt status Register     */
#define BMG160_INTR_STAT3_ADDR (0x0C)

/**<        Address of Interrupt status Register     */
#define BMG160_FIFO_STAT_ADDR  (0x0E)

/**<        Address of FIFO status Register           */
/*******************************************/
/**\name    CONTROL REGISTER    */
/*******************************************/
#define BMG160_RANGE_ADDR        (0x0F)

/**<        Address of Range address Register     */
#define BMG160_BW_ADDR           (0x10)

/**<        Address of Bandwidth Register         */
#define BMG160_MODE_LPM1_ADDR    (0x11)

/**<        Address of Mode LPM1 Register         */
#define BMG160_MODE_LPM2_ADDR    (0x12)

/**<        Address of Mode LPM2 Register         */
#define BMG160_HIGH_BW_ADDR      (0x13)

/**<        Address of Rate HIGH_BW Register       */
#define BMG160_BGW_SOFT_RST_ADDR (0x14)

/**<        Address of BGW Softreset Register      */
/*******************************************/
/**\name    INTERRUPT STATUS REGISTERS    */
/*******************************************/
#define BMG160_INTR_ENABLE0_ADDR  (0x15)

/**<        Address of Interrupt Enable             */
#define BMG160_INTR_ENABLE1_ADDR  (0x16)

/**<        Address of Interrupt Enable             */
#define BMG160_INTR_MAP_ZERO_ADDR (0x17)

/**<        Address of Interrupt MAP                */
#define BMG160_INTR_MAP_ONE_ADDR  (0x18)

/**<        Address of Interrupt MAP                */
#define BMG160_INTR_MAP_TWO_ADDR  (0x19)

/**<        Address of Interrupt MAP                */
#define BMG160_INTR_ZERO_ADDR     (0x1A)

/**<        Address of Interrupt  register   */
#define BMG160_INTR_ONE_ADDR      (0x1B)

/**<        Address of Interrupt  register   */
#define BMG160_INTR_TWO_ADDR      (0x1C)

/**<        Address of Interrupt  register   */
#define BMG160_INTR_4_ADDR        (0x1E)

/**<        Address of Interrupt register   */
#define BMG160_RST_LATCH_ADDR     (0x21)

/**<        Address of Reset Latch Register           */
/***********************************************/
/**\name    INTERRUPT HIGH RATE CONFIGURATION REGISTER  */
/***********************************************/
#define BMG160_HIGHRATE_THRES_X_ADDR (0x22)

/**<        Address of High Th x Address register     */
#define BMG160_HIGHRATE_DURN_X_ADDR  (0x23)

/**<        Address of High Dur x Address register    */
#define BMG160_HIGHRATE_THRES_Y_ADDR (0x24)

/**<        Address of High Th y  Address register    */
#define BMG160_HIGHRATE_DURN_Y_ADDR  (0x25)

/**<        Address of High Dur y Address register    */
#define BMG160_HIGHRATE_THRES_Z_ADDR (0x26)

/**<        Address of High Th z Address register  */
#define BMG160_HIGHRATE_DURN_Z_ADDR  (0x27)

/**<        Address of High Dur z Address register  */
#define BMG160_SOC_ADDR              (0x31)

/**<        Address of SOC register        */
/***********************************************/
/**\name    OFFSET REGISTER  */
/***********************************************/
#define BMG160_A_FOC_ADDR (0x32)

/**<        Address of A_FOC Register        */
/***********************************************/
/**\name    NVM CONTROL REGISTER  */
/***********************************************/
#define BMG160_TRIM_NVM_CTRL_ADDR (0x33)

/**<        Address of Trim NVM control register    */
#define BMG160_BGW_SPI3_WDT_ADDR  (0x34)

/**<        Address of BGW SPI3,WDT Register           */
/***********************************************/
/**\name    OFFSET OCNFIGURATION REGISTER  */
/***********************************************/
/* Trim Register */
#define BMG160_OFFSET_OFC1_ADDR (0x36)

/**<        Address of OFC1 Register          */
#define BMG160_OFC2_ADDR        (0x37)

/**<        Address of OFC2 Register          */
#define BMG160_OFC3_ADDR        (0x38)

/**<        Address of OFC3 Register          */
#define BMG160_OFC4_ADDR        (0x39)

/**<        Address of OFC4 Register          */
#define BMG160_TRIM_GP0_ADDR    (0x3A)

/**<        Address of Trim GP0 Register              */
#define BMG160_TRIM_GP1_ADDR    (0x3B)

/**<        Address of Trim GP1 Register              */
/***********************************************/
/**\name    SELFTEST REGISTER  */
/***********************************************/
#define BMG160_SELFTEST_ADDR (0x3C)

/**<        Address of BGW Self test Register           */
/***********************************************/
/**\name    FIFO REGISTER  */
/***********************************************/
/* Control Register */
#define BMG160_FIFO_CGF0_ADDR (0x3D)

/**<        Address of FIFO CGF0 Register             */
#define BMG160_FIFO_CGF1_ADDR (0x3E)

/**<        Address of FIFO CGF1 Register             */
/* Data Register */
#define BMG160_FIFO_DATA_ADDR (0x3F)

/**<        Address of FIFO Data Register             */
/***********************************************/
/**\name    FIFO DEFINITIONS  */
/***********************************************/
#define BMG160_FIFO_XYZ_DATA_ENABLED           (0x00)
#define BMG160_FIFO_TAG_ENABLED                (0x01)
#define BMG160_FIFO_XYZ_AXES_TAG_FRAME_SIZE    (8)
#define BMG160_FIFO_XYZ_AXES_FRAME_SIZE        (6)
#define BMG160_FIFO_SINGLE_AXIS_TAG_FRAME_SIZE (4)
#define BMG160_FIFO_SINGLE_AXIS_FRAME_SIZE     (2)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR THE DATA REGISTERS  */
/***********************************************/
/* Rate X LSB Register */
#define BMG160_RATE_X_LSB_BIT__POS (0)

/**< Last (8) bits of RateX LSB Registers */
#define BMG160_RATE_X_LSB_BIT__LEN (8)
#define BMG160_RATE_X_LSB_BIT__MSK (0xFF)
#define BMG160_RATE_X_LSB_BIT__REG (BMG160_RATE_X_LSB_ADDR)

/* Rate Y LSB Register */
/**<  Last (8) bits of RateY LSB Registers */
#define BMG160_RATE_Y_LSB_BIT__POS (0)
#define BMG160_RATE_Y_LSB_BIT__LEN (8)
#define BMG160_RATE_Y_LSB_BIT__MSK (0xFF)
#define BMG160_RATE_Y_LSB_BIT__REG (BMG160_RATE_Y_LSB_ADDR)

/* Rate Z LSB Register */
/**< Last (8) bits of RateZ LSB Registers */
#define BMG160_RATE_Z_LSB_BIT__POS (0)
#define BMG160_RATE_Z_LSB_BIT__LEN (8)
#define BMG160_RATE_Z_LSB_BIT__MSK (0xFF)
#define BMG160_RATE_Z_LSB_BIT__REG (BMG160_RATE_Z_LSB_ADDR)

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

/**\name    BIT LENGTH, MASK,
 * POSITION FOR THE INTERRUPT STATUS REGISTERS
 */

/***********************************************/
/* Interrupt status (0) Register */
/**< 2th bit of Interrupt status  register */
#define BMG160_INTR_STAT0_ANY_MOTION_INTR__POS (2)
#define BMG160_INTR_STAT0_ANY_MOTION_INTR__LEN (1)
#define BMG160_INTR_STAT0_ANY_MOTION_INTR__MSK (0x04)
#define BMG160_INTR_STAT0_ANY_MOTION_INTR__REG (BMG160_INTR_STAT0_ADDR)

/**< 1st bit of Interrupt status register */
#define BMG160_INTR_STAT0_HIGHRATE_INTR__POS   (1)
#define BMG160_INTR_STAT0_HIGHRATE_INTR__LEN   (1)
#define BMG160_INTR_STAT0_HIGHRATE_INTR__MSK   (0x02)
#define BMG160_INTR_STAT0_HIGHRATE_INTR__REG   (BMG160_INTR_STAT0_ADDR)

/**< 1st and 2nd bit of Interrupt status  register */
#define BMG160_INTR_STAT_ZERO__POS             (1)
#define BMG160_INTR_STAT_ZERO__LEN             (2)
#define BMG160_INTR_STAT_ZERO__MSK             (0x06)
#define BMG160_INTR_STAT_ZERO__REG             (BMG160_INTR_STAT0_ADDR)

/* Interrupt status (1) Register */
/**< 7th bit of Interrupt status  register */
#define BMG160_INTR_STAT1_DATA_INTR__POS       (7)
#define BMG160_INTR_STAT1_DATA_INTR__LEN       (1)
#define BMG160_INTR_STAT1_DATA_INTR__MSK       (0x80)
#define BMG160_INTR_STAT1_DATA_INTR__REG       (BMG160_INTR_STAT1_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR THE OFFSET STATUS REGISTERS  */
/***********************************************/
/**< 6th bit of Interrupt status  register */
#define BMG160_INTR_STAT1_AUTO_OFFSET_INTR__POS (6)
#define BMG160_INTR_STAT1_AUTO_OFFSET_INTR__LEN (1)
#define BMG160_INTR_STAT1_AUTO_OFFSET_INTR__MSK (0x40)
#define BMG160_INTR_STAT1_AUTO_OFFSET_INTR__REG (BMG160_INTR_STAT1_ADDR)

/**< 5th bit of Interrupt status  register */
#define BMG160_INTR_STAT1_FAST_OFFSET_INTR__POS (5)
#define BMG160_INTR_STAT1_FAST_OFFSET_INTR__LEN (1)
#define BMG160_INTR_STAT1_FAST_OFFSET_INTR__MSK (0x20)
#define BMG160_INTR_STAT1_FAST_OFFSET_INTR__REG (BMG160_INTR_STAT1_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR THE FIFO STATUS REGISTERS  */
/***********************************************/
/**< 4th bit of Interrupt status  register */
#define BMG160_INTR_STAT1_FIFO_INTR__POS (4)
#define BMG160_INTR_STAT1_FIFO_INTR__LEN (1)
#define BMG160_INTR_STAT1_FIFO_INTR__MSK (0x10)
#define BMG160_INTR_STAT1_FIFO_INTR__REG (BMG160_INTR_STAT1_ADDR)

/**< MSB (4) bits of Interrupt status1 register */
#define BMG160_INTR_STAT_ONE__POS        (4)
#define BMG160_INTR_STAT_ONE__LEN        (4)
#define BMG160_INTR_STAT_ONE__MSK        (0xF0)
#define BMG160_INTR_STAT_ONE__REG        (BMG160_INTR_STAT1_ADDR)

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

/**\name    BIT LENGTH, MASK, POSITION FOR
 * THE ANY MOTION CONFIGURATION REGISTERS
 */

/***********************************************/
/* Interrupt status (2) Register */
/**< 3th bit of Interrupt status  register */
#define BMG160_INTR_STAT2_ANY_MOTION_SIGN_INTR__POS   (3)
#define BMG160_INTR_STAT2_ANY_MOTION_SIGN_INTR__LEN   (1)
#define BMG160_INTR_STAT2_ANY_MOTION_SIGN_INTR__MSK   (0x08)
#define BMG160_INTR_STAT2_ANY_MOTION_SIGN_INTR__REG   (BMG160_INTR_STAT2_ADDR)

/**< 2th bit of Interrupt status register */
#define BMG160_INTR_STAT2_ANY_MOTION_FIRSTZ_INTR__POS (2)
#define BMG160_INTR_STAT2_ANY_MOTION_FIRSTZ_INTR__LEN (1)
#define BMG160_INTR_STAT2_ANY_MOTION_FIRSTZ_INTR__MSK (0x04)
#define BMG160_INTR_STAT2_ANY_MOTION_FIRSTZ_INTR__REG (BMG160_INTR_STAT2_ADDR)

/**< 1st bit of Interrupt status  register */
#define BMG160_INTR_STAT2_ANY_MOTION_FIRSTY_INTR__POS (1)
#define BMG160_INTR_STAT2_ANY_MOTION_FIRSTY_INTR__LEN (1)
#define BMG160_INTR_STAT2_ANY_MOTION_FIRSTY_INTR__MSK (0x02)
#define BMG160_INTR_STAT2_ANY_MOTION_FIRSTY_INTR__REG (BMG160_INTR_STAT2_ADDR)

/**< 0th bit of Interrupt status register */
#define BMG160_INTR_STAT2_ANY_MOTION_FIRSTX_INTR__POS (0)
#define BMG160_INTR_STAT2_ANY_MOTION_FIRSTX_INTR__LEN (1)
#define BMG160_INTR_STAT2_ANY_MOTION_FIRSTX_INTR__MSK (0x01)
#define BMG160_INTR_STAT2_ANY_MOTION_FIRSTX_INTR__REG (BMG160_INTR_STAT2_ADDR)

/**< (4) bits of Interrupt status  register */
#define BMG160_INTR_STAT_TWO__POS                     (0)
#define BMG160_INTR_STAT_TWO__LEN                     (4)
#define BMG160_INTR_STAT_TWO__MSK                     (0x0F)
#define BMG160_INTR_STAT_TWO__REG                     (BMG160_INTR_STAT2_ADDR)

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

/**\name    BIT LENGTH, MASK, POSITION FOR
 * THE HIGH RATE XYZ SIGN REGISTERS
 */

/***********************************************/
/* Interrupt status (3) Register */
/**< 3th bit of Interrupt status  register */
#define BMG160_INTR_STAT3_HIGHRATE_SIGN_INTR__POS   (3)
#define BMG160_INTR_STAT3_HIGHRATE_SIGN_INTR__LEN   (1)
#define BMG160_INTR_STAT3_HIGHRATE_SIGN_INTR__MSK   (0x08)
#define BMG160_INTR_STAT3_HIGHRATE_SIGN_INTR__REG   (BMG160_INTR_STAT3_ADDR)

/**< 2th bit of Interrupt status  register */
#define BMG160_INTR_STAT3_HIGHRATE_FIRSTZ_INTR__POS (2)
#define BMG160_INTR_STAT3_HIGHRATE_FIRSTZ_INTR__LEN (1)
#define BMG160_INTR_STAT3_HIGHRATE_FIRSTZ_INTR__MSK (0x04)
#define BMG160_INTR_STAT3_HIGHRATE_FIRSTZ_INTR__REG (BMG160_INTR_STAT3_ADDR)

/**< 1st bit of Interrupt status  register */
#define BMG160_INTR_STAT3_HIGHRATE_FIRSTY_INTR__POS (1)
#define BMG160_INTR_STAT3_HIGHRATE_FIRSTY_INTR__LEN (1)
#define BMG160_INTR_STAT3_HIGHRATE_FIRSTY_INTR__MSK (0x02)
#define BMG160_INTR_STAT3_HIGHRATE_FIRSTY_INTR__REG (BMG160_INTR_STAT3_ADDR)

/**< 0th bit of Interrupt status  register */
#define BMG160_INTR_STAT3_HIGHRATE_FIRSTX_INTR__POS (0)
#define BMG160_INTR_STAT3_HIGHRATE_FIRSTX_INTR__LEN (1)
#define BMG160_INTR_STAT3_HIGHRATE_FIRSTX_INTR__MSK (0x01)
#define BMG160_INTR_STAT3_HIGHRATE_FIRSTX_INTR__REG (BMG160_INTR_STAT3_ADDR)

/**< LSB (4) bits of Interrupt status  register */
#define BMG160_INTR_STAT_THREE__POS                 (0)
#define BMG160_INTR_STAT_THREE__LEN                 (4)
#define BMG160_INTR_STAT_THREE__MSK                 (0x0F)
#define BMG160_INTR_STAT_THREE__REG                 (BMG160_INTR_STAT3_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR THE FIFO OVERRUN  */
/***********************************************/
/* BMG160 FIFO Status Register */
/**< 7th bit of FIFO status Register */
#define BMG160_FIFO_STAT_OVERRUN__POS (7)
#define BMG160_FIFO_STAT_OVERRUN__LEN (1)
#define BMG160_FIFO_STAT_OVERRUN__MSK (0x80)
#define BMG160_FIFO_STAT_OVERRUN__REG (BMG160_FIFO_STAT_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR THE FIFO FRAME COUNT  */
/***********************************************/
/**< First (7) bits of FIFO status Register */
#define BMG160_FIFO_STAT_FRAME_COUNTER__POS (0)
#define BMG160_FIFO_STAT_FRAME_COUNTER__LEN (7)
#define BMG160_FIFO_STAT_FRAME_COUNTER__MSK (0x7F)
#define BMG160_FIFO_STAT_FRAME_COUNTER__REG (BMG160_FIFO_STAT_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR THE RANGE  */
/***********************************************/
/**< First (3) bits of range Registers */
#define BMG160_RANGE_ADDR_RANGE__POS (0)
#define BMG160_RANGE_ADDR_RANGE__LEN (3)
#define BMG160_RANGE_ADDR_RANGE__MSK (0x07)
#define BMG160_RANGE_ADDR_RANGE__REG (BMG160_RANGE_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR THE BANDWIDTH  */
/***********************************************/
/**< First (3) bits of Bandwidth Registers */
#define BMG160_BW_ADDR__POS   (0)
#define BMG160_BW_ADDR__LEN   (3)
#define BMG160_BW_ADDR__MSK   (0x07)
#define BMG160_BW_ADDR__REG   (BMG160_BW_ADDR)

/**< 5th and 7th bit of LPM1 Register */
#define BMG160_MODE_LPM1__POS (5)
#define BMG160_MODE_LPM1__LEN (3)
#define BMG160_MODE_LPM1__MSK (0xA0)
#define BMG160_MODE_LPM1__REG (BMG160_MODE_LPM1_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR THE POWER MODE  */
/***********************************************/
/**< 1st to 3rd bit of LPM1 Register */
#define BMG160_MODELPM1_ADDR_SLEEP_DURN__POS       (1)
#define BMG160_MODELPM1_ADDR_SLEEP_DURN__LEN       (3)
#define BMG160_MODELPM1_ADDR_SLEEP_DURN__MSK       (0x0E)
#define BMG160_MODELPM1_ADDR_SLEEP_DURN__REG              \
    (BMG160_MODE_LPM1_ADDR)

/**< 7th bit of Mode LPM2 Register */
#define BMG160_MODE_LPM2_ADDR_FAST_POWERUP__POS    (7)
#define BMG160_MODE_LPM2_ADDR_FAST_POWERUP__LEN    (1)
#define BMG160_MODE_LPM2_ADDR_FAST_POWERUP__MSK    (0x80)
#define BMG160_MODE_LPM2_ADDR_FAST_POWERUP__REG         \
    (BMG160_MODE_LPM2_ADDR)

/**< 6th bit of Mode LPM2 Register */
#define BMG160_MODE_LPM2_ADDR_ADV_POWERSAVING__POS (6)
#define BMG160_MODE_LPM2_ADDR_ADV_POWERSAVING__LEN (1)
#define BMG160_MODE_LPM2_ADDR_ADV_POWERSAVING__MSK (0x40)
#define BMG160_MODE_LPM2_ADDR_ADV_POWERSAVING__REG      \
    (BMG160_MODE_LPM2_ADDR)

/**< 4th & 5th bit of Mode LPM2 Register */
#define BMG160_MODE_LPM2_ADDR_EXT_TRI_SELECT__POS  (4)
#define BMG160_MODE_LPM2_ADDR_EXT_TRI_SELECT__LEN  (2)
#define BMG160_MODE_LPM2_ADDR_EXT_TRI_SELECT__MSK  (0x30)
#define BMG160_MODE_LPM2_ADDR_EXT_TRI_SELECT__REG          \
    (BMG160_MODE_LPM2_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR THE AUTO SLEEP DURATION  */
/***********************************************/
/**< 0th to 2nd bit of LPM2 Register */
#define BMG160_MODE_LPM2_ADDR_AUTO_SLEEP_DURN__POS (0)
#define BMG160_MODE_LPM2_ADDR_AUTO_SLEEP_DURN__LEN (3)
#define BMG160_MODE_LPM2_ADDR_AUTO_SLEEP_DURN__MSK (0x07)
#define BMG160_MODE_LPM2_ADDR_AUTO_SLEEP_DURN__REG (BMG160_MODE_LPM2_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR THE HIGH BANDWIDTH  */
/***********************************************/
/**< 7th bit of HIGH_BW Register */
#define BMG160_HIGH_BW__POS    (7)
#define BMG160_HIGH_BW__LEN    (1)
#define BMG160_HIGH_BW__MSK    (0x80)
#define BMG160_HIGH_BW__REG    (BMG160_HIGH_BW_ADDR)

/**< 6th bit of HIGH_BW Register */
#define BMG160_SHADOW_DIS__POS (6)
#define BMG160_SHADOW_DIS__LEN (1)
#define BMG160_SHADOW_DIS__MSK (0x40)
#define BMG160_SHADOW_DIS__REG (BMG160_HIGH_BW_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR THE DATA INTERRUPT  */
/***********************************************/
/**< 7th bit of Interrupt Enable Registers */
#define BMG160_INTR_ENABLE0_DATA__POS (7)
#define BMG160_INTR_ENABLE0_DATA__LEN (1)
#define BMG160_INTR_ENABLE0_DATA__MSK (0x80)
#define BMG160_INTR_ENABLE0_DATA__REG (BMG160_INTR_ENABLE0_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR THE FIFO INTERRUPT  */
/***********************************************/
/**< 6th bit of Interrupt Enable Registers */
#define BMG160_INTR_ENABLE0_FIFO__POS (6)
#define BMG160_INTR_ENABLE0_FIFO__LEN (1)
#define BMG160_INTR_ENABLE0_FIFO__MSK (0x40)
#define BMG160_INTR_ENABLE0_FIFO__REG (BMG160_INTR_ENABLE0_ADDR)

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

/**\name    BIT LENGTH, MASK, POSITION
 * FOR THE AUTO OFFSET INTERRUPT
 */

/***********************************************/
/**< 2nd bit of Interrupt Enable Registers */
#define BMG160_INTR_ENABLE0_AUTO_OFFSET__POS (2)
#define BMG160_INTR_ENABLE0_AUTO_OFFSET__LEN (1)
#define BMG160_INTR_ENABLE0_AUTO_OFFSET__MSK (0x04)
#define BMG160_INTR_ENABLE0_AUTO_OFFSET__REG (BMG160_INTR_ENABLE0_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR THE OUTPUT TYPE  */
/***********************************************/
/**< 3rd bit of Interrupt Enable Registers */
#define BMG160_INTR_ENABLE1_IT2_OUTPUT_TYPE__POS (3)
#define BMG160_INTR_ENABLE1_IT2_OUTPUT_TYPE__LEN (1)
#define BMG160_INTR_ENABLE1_IT2_OUTPUT_TYPE__MSK (0x08)
#define BMG160_INTR_ENABLE1_IT2_OUTPUT_TYPE__REG               \
    (BMG160_INTR_ENABLE1_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR THE LEVEL  */
/***********************************************/
/**< 2nd bit of Interrupt Enable Registers */
#define BMG160_INTR_ENABLE1_IT2_LEVEL__POS (2)
#define BMG160_INTR_ENABLE1_IT2_LEVEL__LEN (1)
#define BMG160_INTR_ENABLE1_IT2_LEVEL__MSK (0x04)
#define BMG160_INTR_ENABLE1_IT2_LEVEL__REG              \
    (BMG160_INTR_ENABLE1_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR THE OUTPUT TYPE  */
/***********************************************/
/**< 1st bit of Interrupt Enable Registers */
#define BMG160_INTR_ENABLE1_IT1_OUTPUT_TYPE__POS (1)
#define BMG160_INTR_ENABLE1_IT1_OUTPUT_TYPE__LEN (1)
#define BMG160_INTR_ENABLE1_IT1_OUTPUT_TYPE__MSK (0x02)
#define BMG160_INTR_ENABLE1_IT1_OUTPUT_TYPE__REG               \
    (BMG160_INTR_ENABLE1_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR THE LEVEL  */
/***********************************************/
/**< 0th bit of Interrupt Enable Registers */
#define BMG160_INTR_ENABLE1_IT1_LEVEL__POS (0)
#define BMG160_INTR_ENABLE1_IT1_LEVEL__LEN (1)
#define BMG160_INTR_ENABLE1_IT1_LEVEL__MSK (0x01)
#define BMG160_INTR_ENABLE1_IT1_LEVEL__REG              \
    (BMG160_INTR_ENABLE1_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR HIGH RATE INTERRUPT  */
/***********************************************/
/**< 3rd bit of Interrupt MAP (0) Registers */
#define BMG160_INTR_MAP_ZERO_INTR1_HIGHRATE__POS (3)
#define BMG160_INTR_MAP_ZERO_INTR1_HIGHRATE__LEN (1)
#define BMG160_INTR_MAP_ZERO_INTR1_HIGHRATE__MSK (0x08)
#define BMG160_INTR_MAP_ZERO_INTR1_HIGHRATE__REG            \
    (BMG160_INTR_MAP_ZERO_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR ANY_MOTION INTERRUPT  */
/***********************************************/
/**< 1st bit of Interrupt MAP  Registers */
#define BMG160_INTR_MAP_ZERO_INTR1_ANY_MOTION__POS (1)
#define BMG160_INTR_MAP_ZERO_INTR1_ANY_MOTION__LEN (1)
#define BMG160_INTR_MAP_ZERO_INTR1_ANY_MOTION__MSK (0x02)
#define BMG160_INTR_MAP_ZERO_INTR1_ANY_MOTION__REG             \
    (BMG160_INTR_MAP_ZERO_ADDR)

/**< 7th bit of MAP_1Registers */
#define BMG160_MAP_ONE_INTR2_DATA__POS             (7)
#define BMG160_MAP_ONE_INTR2_DATA__LEN             (1)
#define BMG160_MAP_ONE_INTR2_DATA__MSK             (0x80)
#define BMG160_MAP_ONE_INTR2_DATA__REG                  \
    (BMG160_INTR_MAP_ONE_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR FAST OFFSET INTERRUPT  */
/***********************************************/
/**< 6th bit of MAP_1Registers */
#define BMG160_MAP_ONE_INTR2_FAST_OFFSET__POS (6)
#define BMG160_MAP_ONE_INTR2_FAST_OFFSET__LEN (1)
#define BMG160_MAP_ONE_INTR2_FAST_OFFSET__MSK (0x40)
#define BMG160_MAP_ONE_INTR2_FAST_OFFSET__REG           \
    (BMG160_INTR_MAP_ONE_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR FIFO INTERRUPT  */
/***********************************************/
/**< 5th bit of MAP_1Registers */
#define BMG160_MAP_ONE_INTR2_FIFO__POS (5)
#define BMG160_MAP_ONE_INTR2_FIFO__LEN (1)
#define BMG160_MAP_ONE_INTR2_FIFO__MSK (0x20)
#define BMG160_MAP_ONE_INTR2_FIFO__REG                  \
    (BMG160_INTR_MAP_ONE_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR AUTO OFFSET INTERRUPT  */
/***********************************************/
/**< 4th bit of MAP_1Registers */
#define BMG160_MAP_ONE_INTR2_AUTO_OFFSET__POS (4)
#define BMG160_MAP_ONE_INTR2_AUTO_OFFSET__LEN (1)
#define BMG160_MAP_ONE_INTR2_AUTO_OFFSET__MSK (0x10)
#define BMG160_MAP_ONE_INTR2_AUTO_OFFSET__REG           \
    (BMG160_INTR_MAP_ONE_ADDR)

/**< 3rd bit of MAP_1Registers */
#define BMG160_MAP_ONE_INTR1_AUTO_OFFSET__POS (3)
#define BMG160_MAP_ONE_INTR1_AUTO_OFFSET__LEN (1)
#define BMG160_MAP_ONE_INTR1_AUTO_OFFSET__MSK (0x08)
#define BMG160_MAP_ONE_INTR1_AUTO_OFFSET__REG           \
    (BMG160_INTR_MAP_ONE_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR FIFO INTERRUPT  */
/**********************************************/
/**< 2nd bit of MAP_1Registers */
#define BMG160_MAP_ONE_INTR1_FIFO__POS (2)
#define BMG160_MAP_ONE_INTR1_FIFO__LEN (1)
#define BMG160_MAP_ONE_INTR1_FIFO__MSK (0x04)
#define BMG160_MAP_ONE_INTR1_FIFO__REG                  \
    (BMG160_INTR_MAP_ONE_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR FAST OFFSET INTERRUPT  */
/**********************************************/
/**< 1st bit of MAP_1Registers */
#define BMG160_MAP_ONE_INTR1_FAST_OFFSET__POS (1)
#define BMG160_MAP_ONE_INTR1_FAST_OFFSET__LEN (1)
#define BMG160_MAP_ONE_INTR1_FAST_OFFSET__MSK (0x02)
#define BMG160_MAP_ONE_INTR1_FAST_OFFSET__REG           \
    (BMG160_INTR_MAP_ONE_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR DATA INTERRUPT  */
/**********************************************/
/**< 0th bit of MAP_1Registers */
#define BMG160_MAP_ONE_INTR1_DATA__POS (0)
#define BMG160_MAP_ONE_INTR1_DATA__LEN (1)
#define BMG160_MAP_ONE_INTR1_DATA__MSK (0x01)
#define BMG160_MAP_ONE_INTR1_DATA__REG                  \
    (BMG160_INTR_MAP_ONE_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR HIGH RATE INTERRUPT  */
/**********************************************/
/**< 3rd bit of Interrupt Map  Registers */
#define BMG160_INTR_MAP_TWO_INTR2_HIGHRATE__POS (3)
#define BMG160_INTR_MAP_TWO_INTR2_HIGHRATE__LEN (1)
#define BMG160_INTR_MAP_TWO_INTR2_HIGHRATE__MSK (0x08)
#define BMG160_INTR_MAP_TWO_INTR2_HIGHRATE__REG            \
    (BMG160_INTR_MAP_TWO_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR ANY MOTION INTERRUPT  */
/**********************************************/
/**< 1st bit of Interrupt Map  Registers */
#define BMG160_INTR_MAP_TWO_INTR2_ANY_MOTION__POS (1)
#define BMG160_INTR_MAP_TWO_INTR2_ANY_MOTION__LEN (1)
#define BMG160_INTR_MAP_TWO_INTR2_ANY_MOTION__MSK (0x02)
#define BMG160_INTR_MAP_TWO_INTR2_ANY_MOTION__REG             \
    (BMG160_INTR_MAP_TWO_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR SLOW OFFSET UNFILT  */
/**********************************************/
/**< 5th bit of Interrupt  Registers */
#define BMG160_INTR_ZERO_ADDR_SLOW_OFFSET_UNFILT__POS (5)
#define BMG160_INTR_ZERO_ADDR_SLOW_OFFSET_UNFILT__LEN (1)
#define BMG160_INTR_ZERO_ADDR_SLOW_OFFSET_UNFILT__MSK (0x20)
#define BMG160_INTR_ZERO_ADDR_SLOW_OFFSET_UNFILT__REG          \
    (BMG160_INTR_ZERO_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR HIGH RATE UNFILT  */
/**********************************************/
/**< 3rd bit of Interrupt  Registers */
#define BMG160_INTR_ZERO_ADDR_HIGHRATE_UNFILT_DATA__POS (3)
#define BMG160_INTR_ZERO_ADDR_HIGHRATE_UNFILT_DATA__LEN (1)
#define BMG160_INTR_ZERO_ADDR_HIGHRATE_UNFILT_DATA__MSK (0x08)
#define BMG160_INTR_ZERO_ADDR_HIGHRATE_UNFILT_DATA__REG            \
    (BMG160_INTR_ZERO_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR ANY MOTION UNFILT  */
/**********************************************/
/**< 1st bit of Interrupt (0) Registers */
#define BMG160_INTR_ZERO_ADDR_ANY_MOTION_UNFILT_DATA__POS (1)
#define BMG160_INTR_ZERO_ADDR_ANY_MOTION_UNFILT_DATA__LEN (1)
#define BMG160_INTR_ZERO_ADDR_ANY_MOTION_UNFILT_DATA__MSK (0x02)
#define BMG160_INTR_ZERO_ADDR_ANY_MOTION_UNFILT_DATA__REG             \
    (BMG160_INTR_ZERO_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR FAST OFFSET UNFILT  */
/**********************************************/
/**< 7th bit of INT_1  Registers */
#define BMG160_INTR_ONE_ADDR_FAST_OFFSET_UNFILT__POS (7)
#define BMG160_INTR_ONE_ADDR_FAST_OFFSET_UNFILT__LEN (1)
#define BMG160_INTR_ONE_ADDR_FAST_OFFSET_UNFILT__MSK (0x80)
#define BMG160_INTR_ONE_ADDR_FAST_OFFSET_UNFILT__REG            \
    (BMG160_INTR_ONE_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR ANY MOTION THRESHOLD */
/**********************************************/
/**< First (7) bits of INT_1  Registers */
#define BMG160_INTR_ONE_ADDR_ANY_MOTION_THRES__POS (0)
#define BMG160_INTR_ONE_ADDR_ANY_MOTION_THRES__LEN (7)
#define BMG160_INTR_ONE_ADDR_ANY_MOTION_THRES__MSK (0x7F)
#define BMG160_INTR_ONE_ADDR_ANY_MOTION_THRES__REG                       \
    (BMG160_INTR_ONE_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR AWAKE DURATION */
/**********************************************/
/**< Last (2) bits of INT 2Registers */
#define BMG160_INTR_TWO_ADDR_AWAKE_DURN__POS (6)
#define BMG160_INTR_TWO_ADDR_AWAKE_DURN__LEN (2)
#define BMG160_INTR_TWO_ADDR_AWAKE_DURN__MSK (0xC0)
#define BMG160_INTR_TWO_ADDR_AWAKE_DURN__REG (BMG160_INTR_TWO_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR ANY MOTION SAMPLE */
/**********************************************/
/**< 4th & 5th bit of INT 2Registers */
#define BMG160_INTR_TWO_ADDR_ANY_MOTION_DURN_SAMPLE__POS (4)
#define BMG160_INTR_TWO_ADDR_ANY_MOTION_DURN_SAMPLE__LEN (2)
#define BMG160_INTR_TWO_ADDR_ANY_MOTION_DURN_SAMPLE__MSK (0x30)
#define BMG160_INTR_TWO_ADDR_ANY_MOTION_DURN_SAMPLE__REG      \
    (BMG160_INTR_TWO_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR ANY MOTION XYZ AXIS */
/**********************************************/
/**< 2nd bit of INT 2Registers */
#define BMG160_INTR_TWO_ADDR_ANY_MOTION_ENABLE_Z__POS (2)
#define BMG160_INTR_TWO_ADDR_ANY_MOTION_ENABLE_Z__LEN (1)
#define BMG160_INTR_TWO_ADDR_ANY_MOTION_ENABLE_Z__MSK (0x04)
#define BMG160_INTR_TWO_ADDR_ANY_MOTION_ENABLE_Z__REG           \
    (BMG160_INTR_TWO_ADDR)

/**< 1st bit of INT 2Registers */
#define BMG160_INTR_TWO_ADDR_ANY_MOTION_ENABLE_Y__POS (1)
#define BMG160_INTR_TWO_ADDR_ANY_MOTION_ENABLE_Y__LEN (1)
#define BMG160_INTR_TWO_ADDR_ANY_MOTION_ENABLE_Y__MSK (0x02)
#define BMG160_INTR_TWO_ADDR_ANY_MOTION_ENABLE_Y__REG           \
    (BMG160_INTR_TWO_ADDR)

/**< 0th bit of INT 2Registers */
#define BMG160_INTR_TWO_ADDR_ANY_MOTION_ENABLE_X__POS (0)
#define BMG160_INTR_TWO_ADDR_ANY_MOTION_ENABLE_X__LEN (1)
#define BMG160_INTR_TWO_ADDR_ANY_MOTION_ENABLE_X__MSK (0x01)
#define BMG160_INTR_TWO_ADDR_ANY_MOTION_ENABLE_X__REG           \
    (BMG160_INTR_TWO_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR FIFO WATER MARK*/
/**********************************************/
/**< Last bit of INT  Registers */
#define BMG160_INTR_4_FIFO_WM_ENABLE__POS (7)
#define BMG160_INTR_4_FIFO_WM_ENABLE__LEN (1)
#define BMG160_INTR_4_FIFO_WM_ENABLE__MSK (0x80)
#define BMG160_INTR_4_FIFO_WM_ENABLE__REG (BMG160_INTR_4_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR LATCH*/
/**********************************************/
/**< Last bit of Reset Latch Registers */
#define BMG160_RST_LATCH_ADDR_RST_INTR__POS   (7)
#define BMG160_RST_LATCH_ADDR_RST_INTR__LEN   (1)
#define BMG160_RST_LATCH_ADDR_RST_INTR__MSK   (0x80)
#define BMG160_RST_LATCH_ADDR_RST_INTR__REG   (BMG160_RST_LATCH_ADDR)

/**< 6th bit of Reset Latch Registers */
#define BMG160_RST_LATCH_ADDR_OFFSET_RST__POS (6)
#define BMG160_RST_LATCH_ADDR_OFFSET_RST__LEN (1)
#define BMG160_RST_LATCH_ADDR_OFFSET_RST__MSK (0x40)
#define BMG160_RST_LATCH_ADDR_OFFSET_RST__REG (BMG160_RST_LATCH_ADDR)

/**< 4th bit of Reset Latch Registers */
#define BMG160_RST_LATCH_ADDR_LATCH_STAT__POS (4)
#define BMG160_RST_LATCH_ADDR_LATCH_STAT__LEN (1)
#define BMG160_RST_LATCH_ADDR_LATCH_STAT__MSK (0x10)
#define BMG160_RST_LATCH_ADDR_LATCH_STAT__REG (BMG160_RST_LATCH_ADDR)

/**< First (4) bits of Reset Latch Registers */
#define BMG160_RST_LATCH_ADDR_LATCH_INTR__POS (0)
#define BMG160_RST_LATCH_ADDR_LATCH_INTR__LEN (4)
#define BMG160_RST_LATCH_ADDR_LATCH_INTR__MSK (0x0F)
#define BMG160_RST_LATCH_ADDR_LATCH_INTR__REG (BMG160_RST_LATCH_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR HIGH RATE CONFIGURATION*/
/**********************************************/
/**< Last (2) bits of HIGHRATE_THRES_X Registers */
#define BMG160_HIGHRATE_HYST_X__POS   (6)
#define BMG160_HIGHRATE_HYST_X__LEN   (2)
#define BMG160_HIGHRATE_HYST_X__MSK   (0xC0)
#define BMG160_HIGHRATE_HYST_X__REG   (BMG160_HIGHRATE_THRES_X_ADDR)

/**< (5) bits of HIGHRATE_THRES_X Registers */
#define BMG160_HIGHRATE_THRES_X__POS  (1)
#define BMG160_HIGHRATE_THRES_X__LEN  (5)
#define BMG160_HIGHRATE_THRES_X__MSK  (0x3E)
#define BMG160_HIGHRATE_THRES_X__REG  (BMG160_HIGHRATE_THRES_X_ADDR)

/**< 0th bit of HIGHRATE_THRES_X Registers */
#define BMG160_HIGHRATE_ENABLE_X__POS (0)
#define BMG160_HIGHRATE_ENABLE_X__LEN (1)
#define BMG160_HIGHRATE_ENABLE_X__MSK (0x01)
#define BMG160_HIGHRATE_ENABLE_X__REG (BMG160_HIGHRATE_THRES_X_ADDR)

/**< Last (2) bits of HIGHRATE_THRES_Y Registers */
#define BMG160_HIGHRATE_HYST_Y__POS   (6)
#define BMG160_HIGHRATE_HYST_Y__LEN   (2)
#define BMG160_HIGHRATE_HYST_Y__MSK   (0xC0)
#define BMG160_HIGHRATE_HYST_Y__REG   (BMG160_HIGHRATE_THRES_Y_ADDR)

/**< (5) bits of HIGHRATE_THRES_Y Registers */
#define BMG160_HIGHRATE_THRES_Y__POS  (1)
#define BMG160_HIGHRATE_THRES_Y__LEN  (5)
#define BMG160_HIGHRATE_THRES_Y__MSK  (0x3E)
#define BMG160_HIGHRATE_THRES_Y__REG  (BMG160_HIGHRATE_THRES_Y_ADDR)

/**< 0th bit of HIGHRATE_THRES_Y Registers */
#define BMG160_HIGHRATE_ENABLE_Y__POS (0)
#define BMG160_HIGHRATE_ENABLE_Y__LEN (1)
#define BMG160_HIGHRATE_ENABLE_Y__MSK (0x01)
#define BMG160_HIGHRATE_ENABLE_Y__REG (BMG160_HIGHRATE_THRES_Y_ADDR)

/**< Last (2) bits of HIGHRATE_THRES_Z Registers */
#define BMG160_HIGHRATE_HYST_Z__POS   (6)
#define BMG160_HIGHRATE_HYST_Z__LEN   (2)
#define BMG160_HIGHRATE_HYST_Z__MSK   (0xC0)
#define BMG160_HIGHRATE_HYST_Z__REG   (BMG160_HIGHRATE_THRES_Z_ADDR)

/**< (5) bits of HIGHRATE_THRES_Z Registers */
#define BMG160_HIGHRATE_THRES_Z__POS  (1)
#define BMG160_HIGHRATE_THRES_Z__LEN  (5)
#define BMG160_HIGHRATE_THRES_Z__MSK  (0x3E)
#define BMG160_HIGHRATE_THRES_Z__REG  (BMG160_HIGHRATE_THRES_Z_ADDR)

/**< 0th bit of HIGHRATE_THRES_Z Registers */
#define BMG160_HIGHRATE_ENABLE_Z__POS (0)
#define BMG160_HIGHRATE_ENABLE_Z__LEN (1)
#define BMG160_HIGHRATE_ENABLE_Z__MSK (0x01)
#define BMG160_HIGHRATE_ENABLE_Z__REG (BMG160_HIGHRATE_THRES_Z_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR SLOW OFFSET */
/**********************************************/
/**< Last 3 bits of INT OFF0 Registers */
#define BMG160_SLOW_OFFSET_THRES__POS    (6)
#define BMG160_SLOW_OFFSET_THRES__LEN    (2)
#define BMG160_SLOW_OFFSET_THRES__MSK    (0xC0)
#define BMG160_SLOW_OFFSET_THRES__REG    (BMG160_SOC_ADDR)

/**< 2  bits of INT OFF0 Registers */
#define BMG160_SLOW_OFFSET_DURN__POS     (3)
#define BMG160_SLOW_OFFSET_DURN__LEN     (3)
#define BMG160_SLOW_OFFSET_DURN__MSK     (0x38)
#define BMG160_SLOW_OFFSET_DURN__REG     (BMG160_SOC_ADDR)

/**< 2nd bit of INT OFF0 Registers */
#define BMG160_SLOW_OFFSET_ENABLE_Z__POS (2)
#define BMG160_SLOW_OFFSET_ENABLE_Z__LEN (1)
#define BMG160_SLOW_OFFSET_ENABLE_Z__MSK (0x04)
#define BMG160_SLOW_OFFSET_ENABLE_Z__REG (BMG160_SOC_ADDR)

/**< 1st bit of INT OFF0 Registers */
#define BMG160_SLOW_OFFSET_ENABLE_Y__POS (1)
#define BMG160_SLOW_OFFSET_ENABLE_Y__LEN (1)
#define BMG160_SLOW_OFFSET_ENABLE_Y__MSK (0x02)
#define BMG160_SLOW_OFFSET_ENABLE_Y__REG (BMG160_SOC_ADDR)

/**< 0th bit of INT OFF0 Registers */
#define BMG160_SLOW_OFFSET_ENABLE_X__POS (0)
#define BMG160_SLOW_OFFSET_ENABLE_X__LEN (1)
#define BMG160_SLOW_OFFSET_ENABLE_X__MSK (0x01)
#define BMG160_SLOW_OFFSET_ENABLE_X__REG (BMG160_SOC_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR AUTO OFFSET*/
/**********************************************/
/**< Last 2 bits of INT OFF1 Registers */
#define BMG160_AUTO_OFFSET_WORD_LENGHTH__POS (6)
#define BMG160_AUTO_OFFSET_WORD_LENGHTH__LEN (2)
#define BMG160_AUTO_OFFSET_WORD_LENGHTH__MSK (0xC0)
#define BMG160_AUTO_OFFSET_WORD_LENGHTH__REG (BMG160_A_FOC_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR FATS OFFSET*/
/**********************************************/
/**< 2  bits of INT OFF1 Registers */
#define BMG160_FAST_OFFSET_WORD_LENGHTH__POS (4)
#define BMG160_FAST_OFFSET_WORD_LENGHTH__LEN (2)
#define BMG160_FAST_OFFSET_WORD_LENGHTH__MSK (0x30)
#define BMG160_FAST_OFFSET_WORD_LENGHTH__REG (BMG160_A_FOC_ADDR)

/**< 3nd bit of INT OFF1 Registers */
#define BMG160_FAST_OFFSET_ENABLE__POS       (3)
#define BMG160_FAST_OFFSET_ENABLE__LEN       (1)
#define BMG160_FAST_OFFSET_ENABLE__MSK       (0x08)
#define BMG160_FAST_OFFSET_ENABLE__REG       (BMG160_A_FOC_ADDR)

/**< 2nd bit of INT OFF1 Registers */
#define BMG160_FAST_OFFSET_ENABLE_Z__POS     (2)
#define BMG160_FAST_OFFSET_ENABLE_Z__LEN     (1)
#define BMG160_FAST_OFFSET_ENABLE_Z__MSK     (0x04)
#define BMG160_FAST_OFFSET_ENABLE_Z__REG     (BMG160_A_FOC_ADDR)

/**< 1st bit of INT OFF1 Registers */
#define BMG160_FAST_OFFSET_ENABLE_Y__POS     (1)
#define BMG160_FAST_OFFSET_ENABLE_Y__LEN     (1)
#define BMG160_FAST_OFFSET_ENABLE_Y__MSK     (0x02)
#define BMG160_FAST_OFFSET_ENABLE_Y__REG     (BMG160_A_FOC_ADDR)

/**< 0th bit of INT OFF1 Registers */
#define BMG160_FAST_OFFSET_ENABLE_X__POS     (0)
#define BMG160_FAST_OFFSET_ENABLE_X__LEN     (1)
#define BMG160_FAST_OFFSET_ENABLE_X__MSK     (0x01)
#define BMG160_FAST_OFFSET_ENABLE_X__REG     (BMG160_A_FOC_ADDR)

/**< 0 to (2) bits of INT OFF1 Registers */
#define BMG160_FAST_OFFSET_ENABLE_XYZ__POS   (0)
#define BMG160_FAST_OFFSET_ENABLE_XYZ__LEN   (3)
#define BMG160_FAST_OFFSET_ENABLE_XYZ__MSK   (0x07)
#define BMG160_FAST_OFFSET_ENABLE_XYZ__REG   (BMG160_A_FOC_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR NVM*/
/**********************************************/
/**< Last 4 bits of Trim NVM control Registers */
#define BMG160_TRIM_NVM_CTRL_ADDR_NVM_REMAIN__POS    (4)
#define BMG160_TRIM_NVM_CTRL_ADDR_NVM_REMAIN__LEN    (4)
#define BMG160_TRIM_NVM_CTRL_ADDR_NVM_REMAIN__MSK    (0xF0)
#define BMG160_TRIM_NVM_CTRL_ADDR_NVM_REMAIN__REG        \
    (BMG160_TRIM_NVM_CTRL_ADDR)

/**< 3rd bit of Trim NVM control Registers */
#define BMG160_TRIM_NVM_CTRL_ADDR_NVM_LOAD__POS      (3)
#define BMG160_TRIM_NVM_CTRL_ADDR_NVM_LOAD__LEN      (1)
#define BMG160_TRIM_NVM_CTRL_ADDR_NVM_LOAD__MSK      (0x08)
#define BMG160_TRIM_NVM_CTRL_ADDR_NVM_LOAD__REG          \
    (BMG160_TRIM_NVM_CTRL_ADDR)

/**< 2nd bit of Trim NVM control Registers */
#define BMG160_TRIM_NVM_CTRL_ADDR_NVM_RDY__POS       (2)
#define BMG160_TRIM_NVM_CTRL_ADDR_NVM_RDY__LEN       (1)
#define BMG160_TRIM_NVM_CTRL_ADDR_NVM_RDY__MSK       (0x04)
#define BMG160_TRIM_NVM_CTRL_ADDR_NVM_RDY__REG           \
    (BMG160_TRIM_NVM_CTRL_ADDR)

/**< 1st bit of Trim NVM control Registers */
#define BMG160_TRIM_NVM_CTRL_ADDR_NVM_PROG_TRIG__POS (1)
#define BMG160_TRIM_NVM_CTRL_ADDR_NVM_PROG_TRIG__LEN (1)
#define BMG160_TRIM_NVM_CTRL_ADDR_NVM_PROG_TRIG__MSK (0x02)
#define BMG160_TRIM_NVM_CTRL_ADDR_NVM_PROG_TRIG__REG     \
    (BMG160_TRIM_NVM_CTRL_ADDR)

/**< 0th bit of Trim NVM control Registers */
#define BMG160_TRIM_NVM_CTRL_ADDR_NVM_PROG_MODE__POS (0)
#define BMG160_TRIM_NVM_CTRL_ADDR_NVM_PROG_MODE__LEN (1)
#define BMG160_TRIM_NVM_CTRL_ADDR_NVM_PROG_MODE__MSK (0x01)
#define BMG160_TRIM_NVM_CTRL_ADDR_NVM_PROG_MODE__REG     \
    (BMG160_TRIM_NVM_CTRL_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR I2C CONFIGURATION*/
/**********************************************/
/**< 2nd bit of SPI3 WDT Registers */
#define BMG160_BGW_SPI3_WDT_ADDR_I2C_WDT_ENABLE__POS (2)
#define BMG160_BGW_SPI3_WDT_ADDR_I2C_WDT_ENABLE__LEN (1)
#define BMG160_BGW_SPI3_WDT_ADDR_I2C_WDT_ENABLE__MSK (0x04)
#define BMG160_BGW_SPI3_WDT_ADDR_I2C_WDT_ENABLE__REG      \
    (BMG160_BGW_SPI3_WDT_ADDR)

/**< 1st bit of SPI3 WDT Registers */
#define BMG160_BGW_SPI3_WDT_ADDR_I2C_WDT_SELECT__POS (1)
#define BMG160_BGW_SPI3_WDT_ADDR_I2C_WDT_SELECT__LEN (1)
#define BMG160_BGW_SPI3_WDT_ADDR_I2C_WDT_SELECT__MSK (0x02)
#define BMG160_BGW_SPI3_WDT_ADDR_I2C_WDT_SELECT__REG     \
    (BMG160_BGW_SPI3_WDT_ADDR)

/**< 0th bit of SPI3 WDT Registers */
#define BMG160_BGW_SPI3_WDT_ADDR_SPI3__POS           (0)
#define BMG160_BGW_SPI3_WDT_ADDR_SPI3__LEN           (1)
#define BMG160_BGW_SPI3_WDT_ADDR_SPI3__MSK           (0x01)
#define BMG160_BGW_SPI3_WDT_ADDR_SPI3__REG            \
    (BMG160_BGW_SPI3_WDT_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR SELFTEST*/
/**********************************************/
/**< 4th bit of Self test Registers */
#define BMG160_SELFTEST_ADDR_RATEOK__POS   (4)
#define BMG160_SELFTEST_ADDR_RATEOK__LEN   (1)
#define BMG160_SELFTEST_ADDR_RATEOK__MSK   (0x10)
#define BMG160_SELFTEST_ADDR_RATEOK__REG            \
    (BMG160_SELFTEST_ADDR)

/**< 2nd bit of Self test Registers */
#define BMG160_SELFTEST_ADDR_BISTFAIL__POS (2)
#define BMG160_SELFTEST_ADDR_BISTFAIL__LEN (1)
#define BMG160_SELFTEST_ADDR_BISTFAIL__MSK (0x04)
#define BMG160_SELFTEST_ADDR_BISTFAIL__REG          \
    (BMG160_SELFTEST_ADDR)

/**< 1st bit of Self test Registers */
#define BMG160_SELFTEST_ADDR_BISTRDY__POS  (1)
#define BMG160_SELFTEST_ADDR_BISTRDY__LEN  (1)
#define BMG160_SELFTEST_ADDR_BISTRDY__MSK  (0x02)
#define BMG160_SELFTEST_ADDR_BISTRDY__REG           \
    (BMG160_SELFTEST_ADDR)

/**< 0th bit of Self test Registers */
#define BMG160_SELFTEST_ADDR_TRIGBIST__POS (0)
#define BMG160_SELFTEST_ADDR_TRIGBIST__LEN (1)
#define BMG160_SELFTEST_ADDR_TRIGBIST__MSK (0x01)
#define BMG160_SELFTEST_ADDR_TRIGBIST__REG          \
    (BMG160_SELFTEST_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR FIFO CONFIGURATION*/
/**********************************************/
/**< 7th bit of FIFO CGF0 Registers */
#define BMG160_FIFO_CGF0_ADDR_TAG__POS         (7)
#define BMG160_FIFO_CGF0_ADDR_TAG__LEN         (1)
#define BMG160_FIFO_CGF0_ADDR_TAG__MSK         (0x80)
#define BMG160_FIFO_CGF0_ADDR_TAG__REG         (BMG160_FIFO_CGF0_ADDR)

/**< First 7 bits of FIFO CGF0 Registers */
#define BMG160_FIFO_CGF0_ADDR_WML__POS         (0)
#define BMG160_FIFO_CGF0_ADDR_WML__LEN         (7)
#define BMG160_FIFO_CGF0_ADDR_WML__MSK         (0x7F)
#define BMG160_FIFO_CGF0_ADDR_WML__REG         (BMG160_FIFO_CGF0_ADDR)

/**< Last 2 bits of FIFO CGF1 Addr Registers */
#define BMG160_FIFO_CGF1_ADDR_MODE__POS        (6)
#define BMG160_FIFO_CGF1_ADDR_MODE__LEN        (2)
#define BMG160_FIFO_CGF1_ADDR_MODE__MSK        (0xC0)
#define BMG160_FIFO_CGF1_ADDR_MODE__REG        (BMG160_FIFO_CGF1_ADDR)

/**< First 2 bits of FIFO CGF1 Addr Registers */
#define BMG160_FIFO_CGF1_ADDR_DATA_SELECT__POS (0)
#define BMG160_FIFO_CGF1_ADDR_DATA_SELECT__LEN (2)
#define BMG160_FIFO_CGF1_ADDR_DATA_SELECT__MSK (0x03)
#define BMG160_FIFO_CGF1_ADDR_DATA_SELECT__REG (BMG160_FIFO_CGF1_ADDR)

/***********************************************/
/**\name    BIT LENGTH, MASK, POSITION FOR OFFSET*/
/**********************************************/
/**< Last 2 bits of INL Offset MSB Registers */
#define BMG160_OFC1_ADDR_OFFSET_X__POS     (6)
#define BMG160_OFC1_ADDR_OFFSET_X__LEN     (2)
#define BMG160_OFC1_ADDR_OFFSET_X__MSK     (0xC0)
#define BMG160_OFC1_ADDR_OFFSET_X__REG     (BMG160_OFFSET_OFC1_ADDR)

/**< 3 bits of INL Offset MSB Registers */
#define BMG160_OFC1_ADDR_OFFSET_Y__POS     (3)
#define BMG160_OFC1_ADDR_OFFSET_Y__LEN     (3)
#define BMG160_OFC1_ADDR_OFFSET_Y__MSK     (0x38)
#define BMG160_OFC1_ADDR_OFFSET_Y__REG     (BMG160_OFFSET_OFC1_ADDR)

/**< First 3 bits of INL Offset MSB Registers */
#define BMG160_OFC1_ADDR_OFFSET_Z__POS     (0)
#define BMG160_OFC1_ADDR_OFFSET_Z__LEN     (3)
#define BMG160_OFC1_ADDR_OFFSET_Z__MSK     (0x07)
#define BMG160_OFC1_ADDR_OFFSET_Z__REG     (BMG160_OFFSET_OFC1_ADDR)

/**< 4 bits of Trim GP0 Registers */
#define BMG160_TRIM_GP0_ADDR_GP0__POS      (4)
#define BMG160_TRIM_GP0_ADDR_GP0__LEN      (4)
#define BMG160_TRIM_GP0_ADDR_GP0__MSK      (0xF0)
#define BMG160_TRIM_GP0_ADDR_GP0__REG      (BMG160_TRIM_GP0_ADDR)

/**< 2 bits of Trim GP0 Registers */
#define BMG160_TRIM_GP0_ADDR_OFFSET_X__POS (2)
#define BMG160_TRIM_GP0_ADDR_OFFSET_X__LEN (2)
#define BMG160_TRIM_GP0_ADDR_OFFSET_X__MSK (0x0C)
#define BMG160_TRIM_GP0_ADDR_OFFSET_X__REG (BMG160_TRIM_GP0_ADDR)

/**< 1st bit of Trim GP0 Registers */
#define BMG160_TRIM_GP0_ADDR_OFFSET_Y__POS (1)
#define BMG160_TRIM_GP0_ADDR_OFFSET_Y__LEN (1)
#define BMG160_TRIM_GP0_ADDR_OFFSET_Y__MSK (0x02)
#define BMG160_TRIM_GP0_ADDR_OFFSET_Y__REG (BMG160_TRIM_GP0_ADDR)

/**< First bit of Trim GP0 Registers */
#define BMG160_TRIM_GP0_ADDR_OFFSET_Z__POS (0)
#define BMG160_TRIM_GP0_ADDR_OFFSET_Z__LEN (1)
#define BMG160_TRIM_GP0_ADDR_OFFSET_Z__MSK (0x01)
#define BMG160_TRIM_GP0_ADDR_OFFSET_Z__REG (BMG160_TRIM_GP0_ADDR)

/***********************************************/
/**\name    CONSTANT DEFINITIONS*/
/**********************************************/
/***********************************************/
/**\name    AXIS ENABLE DEFINITIONS*/
/**********************************************/
/* For Axis Selection   */
/**< It refers BMG160 X-axis */
#define BMG160_X_AXIS (0)

/**< It refers BMG160 Y-axis */
#define BMG160_Y_AXIS (1)

/**< It refers BMG160 Z-axis */
#define BMG160_Z_AXIS (2)

/***********************************************/
/**\name    POWER MODE*/
/**********************************************/
/* For Mode Settings    */
#define BMG160_MODE_NORMAL              (0)
#define BMG160_MODE_DEEPSUSPEND         (1)
#define BMG160_MODE_SUSPEND             (2)
#define BMG160_MODE_FASTPOWERUP         (3)
#define BMG160_MODE_ADVANCEDPOWERSAVING (4)

/***********************************************/
/**\name    BIT SLICE FUNCTIONS */
/**********************************************/
/* get bit slice  */
#define BMG160_GET_BITSLICE(regvar, bitname) \
    ((regvar & bitname##__MSK) >> bitname##__POS)

/* Set bit slice */
#define BMG160_SET_BITSLICE(regvar, bitname, val) \
    ((regvar & ~bitname##__MSK) | ((val << bitname##__POS) & bitname##__MSK))

#define BMG160_GET_BIT_POS0(regvar, bitname) (regvar & (bitname##__MSK))

#define BMG160_SET_BIT_POS0(regavar, bitname, val) \
    ((regavar & ~(bitname##__MSK)) | \
     (val & bitname##__MSK))

/****************************************************/
/**\name    ARRAY SIZE DEFINITIONS      */
/***************************************************/
#define BMG160_X_DATA_SIZE           (2)
#define BMG160_Y_DATA_SIZE           (2)
#define BMG160_Z_DATA_SIZE           (2)
#define BMG160_XYZ_DATA_SIZE         (6)
#define BMG160_XYZ_INTR_DATA_SIZE    (12)

#define BMG160_X_LSB_DATA            (0)
#define BMG160_X_MSB_DATA            (1)
#define BMG160_Y_LSB_DATA            (0)
#define BMG160_Y_MSB_DATA            (1)
#define BMG160_Z_LSB_DATA            (0)
#define BMG160_Z_MSB_DATA            (1)
#define BMG160_INTR0_STAT            (0)
#define BMG160_INTR1_STAT            (1)
#define BMG160_INTR2_STAT            (2)
#define BMG160_INTR3_STAT            (3)
#define BMG160_INTR4_STAT            (4)

#define BMG160_DATA_FRAME_X_LSB_BYTE (0)
#define BMG160_DATA_FRAME_X_MSB_BYTE (1)
#define BMG160_DATA_FRAME_Y_LSB_BYTE (2)
#define BMG160_DATA_FRAME_Y_MSB_BYTE (3)
#define BMG160_DATA_FRAME_Z_LSB_BYTE (4)
#define BMG160_DATA_FRAME_Z_MSB_BYTE (5)
#define BMG160_DATA_FRAME_INTR0_BYTE (7)
#define BMG160_DATA_FRAME_INTR1_BYTE (8)
#define BMG160_DATA_FRAME_INTR2_BYTE (9)
#define BMG160_DATA_FRAME_INTR3_BYTE (10)
#define BMG160_DATA_FRAME_INTR4_BYTE (11)

/***********************************************/
/**\name    COMMON DEFINITIONS*/
/**********************************************/

#define BMG160_NULL    (0)

/**< constant declaration of NULL */
#define BMG160_DISABLE (0)

/**< It refers BMG160 disable */
#define BMG160_ENABLE  (1)

/**< It refers BMG160 enable */
#define BMG160_OFF     (0)

/**< It refers BMG160 OFF state */
#define BMG160_ON      (1)

/**< It refers BMG160 ON state  */

#define BMG160_INTR1   (0)

/**< It refers BMG160 INT1 */
#define BMG160_INTR2   (1)

/**< It refers BMG160 INT2 */
/***********************************************/
/**\name    OFFSET DEFINITIONS*/
/**********************************************/
#define BMG160_SLOW_OFFSET (0)

/**< It refers BMG160 Slow Offset */
#define BMG160_AUTO_OFFSET (1)

/**< It refers BMG160 Auto Offset */
#define BMG160_FAST_OFFSET (2)

/**< It refers BMG160 Fast Offset */
/***********************************************/
/**\name    INTERRUPT DEFINITIONS*/
/**********************************************/
#define BMG160_S_TAP                    (0)

/**< It refers BMG160 Single Tap */
#define BMG160_D_TAP                    (1)

/**< It refers BMG160 Double Tap */
#define BMG160_INTR1_DATA               (0)

/**< It refers BMG160 Int1 Data */
#define BMG160_INTR2_DATA               (1)

/**< It refers BMG160 Int2 Data */
#define BMG160_TAP_UNFILT_DATA          (0)

/**< It refers BMG160 Tap unfilt data */
#define BMG160_HIGHRATE_UNFILT_DATA     (1)

/**< It refers BMG160 High unfilt data */
#define BMG160_CONST_UNFILT_DATA        (2)

/**< It refers BMG160 Const unfilt data */
#define BMG160_ANY_MOTION_UNFILT_DATA   (3)

/**< It refers BMG160 Any unfilt data */
#define BMG160_SHAKE_UNFILT_DATA        (4)

/**< It refers BMG160 Shake unfilt data */
#define BMG160_SHAKE_TH                 (0)

/**< It refers BMG160 Shake Threshold */
#define BMG160_SHAKE_TH2                (1)

/**< It refers BMG160 Shake Threshold2 */
#define BMG160_AUTO_OFFSET_WORD_LENGHTH (0)

/**< It refers BMG160 Auto Offset word length */
#define BMG160_FAST_OFFSET_WORD_LENGHTH (1)

/**< It refers BMG160 Fast Offset word length */
/***********************************************/
/**\name    I2C CONFIGURATION DEFINITIONS*/
/**********************************************/
#define BMG160_I2C_WDT_ENABLE   (0)

/**< It refers BMG160 I2C WDT En */
#define BMG160_I2C_WDT_SELECT   (1)

/**< It refers BMG160 I2C WDT Sel */
#define BMG160_EXT_MODE         (0)

/**< It refers BMG160 Ext Mode */
#define BMG160_EXT_PAGE         (1)

/**< It refers BMG160 Ext page */
#define BMG160_START_ADDR       (0)

/**< It refers BMG160 Start Address */
#define BMG160_STOP_ADDR        (1)

/**< It refers BMG160 Stop Address */
#define BMG160_SLOW_CMD         (0)

/**< It refers BMG160 Slow Command */
#define BMG160_FAST_CMD         (1)

/**< It refers BMG160 Fast Command */
#define BMG160_TRIM_VRA         (0)

/**< It refers BMG160 Trim VRA */
#define BMG160_TRIM_VRD         (1)

/**< It refers BMG160 Trim VRD */
#define BMG160_LOGBIT_EM        (0)

/**< It refers BMG160 LogBit Em */
#define BMG160_LOGBIT_VM        (1)

/**< It refers BMG160 LogBit VM */
#define BMG160_GP0              (0)

/**< It refers BMG160 GP0 */
#define BMG160_GP1              (1)

/**< It refers BMG160 GP1*/
#define BMG160_LOW_SPEED        (0)

/**< It refers BMG160 Low Speed Oscillator */
#define BMG160_HIGHRATE_SPEED   (1)

/**< It refers BMG160 High Speed Oscillator */
#define BMG160_DRIVE_OFFSET_P   (0)

/**< It refers BMG160 Drive Offset P */
#define BMG160_DRIVE_OFFSET_N   (1)

/**< It refers BMG160 Drive Offset N */
#define BMG160_TEST_MODE_ENABLE (0)

/**< It refers BMG160 Test Mode Enable */
#define BMG160_TEST_MODE_REG    (1)

/**< It refers BMG160 Test Mode reg */
#define BMG160_IBIAS_DRIVE_TRIM (0)

/**< It refers BMG160 IBIAS Drive Trim */
#define BMG160_IBIAS_RATE_TRIM  (1)

/**< It refers BMG160 IBIAS Rate Trim */
#define BMG160_BAA_MODE         (0)

/**< It refers BMG160 BAA Mode Trim */
#define BMG160_BMA_MODE         (1)

/**< It refers BMG160 BMA Mode Trim */
#define BMG160_PI_KP            (0)

/**< It refers BMG160 PI KP */
#define BMG160_PI_KI            (1)

/**< It refers BMG160 PI KI */
/***********************************************/
/**\name    ERROR/SUCCESS DEFINITIONS*/
/**********************************************/
#define C_BMG160_SUCCESS      (0)

/**< It refers BMG160 operation is success */
#define C_BMG160_FAILURE      (1)

/**< It refers BMG160 operation is Failure */
#define E_BMG160_NULL_PTR     ((s8) (-127))
#define E_BMG160_OUT_OF_RANGE ((s8) (-2))
#define ERROR                 ((s8) (-1))

/***********************************************/
/**\name    SPI DEFINITIONS*/
/**********************************************/
#define BMG160_SPI_RD_MASK    (0x80)

/**< Read mask **/
#define BMG160_READ_SET       (0x01)

/**< Setting for reading data **/
/***********************************************/
/**\name    BIT SHIFTING DEFINITIONS*/
/**********************************************/
#define BMG160_SHIFT_BIT_POSITION_BY_01_BIT  (1)

/**< Shift bit by 1 Position **/
#define BMG160_SHIFT_BIT_POSITION_BY_02_BITS (4)

/**< Shift bit by 2 Position **/
#define BMG160_SHIFT_BIT_POSITION_BY_04_BITS (4)

/**< Shift bit by (4) Position **/
#define BMG160_SHIFT_BIT_POSITION_BY_08_BITS (8)

/**< Shift bit by (8) Position **/
/***********************************************/
/**\name    NUMERIC DEFINITIONS*/
/**********************************************/
#define BMG160_INIT_VALUE                  ((u8)0)
#define BMG160_GEN_READ_WRITE_DATA_LENGTH  ((u8)1)
#define BMG160_X_DATA_LENGTH               ((u8)2)
#define BMG160_Y_DATA_LENGTH               ((u8)2)
#define BMG160_Z_DATA_LENGTH               ((u8)2)
#define BMG160_ALL_DATA_FRAME_LENGTH       ((u8)6)
#define BMG160_BIT_LENGTH_HIGH_BW          ((u8)2)
#define BMG160_BIT_LENGTH_SHADOW_DIS       ((u8)2)
#define BMG160_BIT_LENGTH_FIFO             ((u8)2)
#define BMG160_BIT_LENGTH_FIFO_WM          ((u8)2)
#define BMG160_BIT_LENGTH_FIFO_TAG         ((u8)2)
#define BMG160_BIT_LENGTH_FIFO_MODE        ((u8)4)
#define BMG160_BIT_LENGTH_FIFO_DATA_SELECT ((u8)4)
#define BMG160_BIT_MASK_MODE_LPM1          ((u8)4)
#define BMG160_BIT_LENGTH_RANGE            ((u8)5)
#define BMG160_BIT_LENGTH_BW               ((u8)8)
#define BMG160_BIT_LENGTH_DURN             ((u8)8)
#define BMG160_BIT_LENGTH_POWER_MODE       ((u8)5)
#define BMG160_XYZ_AND_INTR_DATA_LENGTH    ((u8)12)
#define BMG160_FIFO_WM_LENGTH              ((u8)128)
#define BMG160_POWER_MODE_DELAY            ((u8)1)
#define BMG160_SELFTEST_DELAY              ((u8)10)
#define BMG160_SELFTEST_BISTFAIL           ((u8)0x00)
#define BMG160_SELFTEST_RATEOK             ((u8)0x01)

/***********************************************/
/**\name    BANDWIDTH DEFINITIONS*/
/**********************************************/
#define C_BMG160_NO_FILTER_U8X             (0)
#define C_BMG160_BW_230HZ_U8X              (1)
#define C_BMG160_BW_116HZ_U8X              (2)
#define C_BMG160_BW_47HZ_U8X               (3)
#define C_BMG160_BW_23HZ_U8X               (4)
#define C_BMG160_BW_12HZ_U8X               (5)
#define C_BMG160_BW_64HZ_U8X               (6)
#define C_BMG160_BW_32HZ_U8X               (7)

#define BMG160_BW_500_HZ                   (0x01)
#define BMG160_BW_230_HZ                   (0x01)
#define BMG160_BW_116_HZ                   (0x02)
#define BMG160_BW_47_HZ                    (0x03)
#define BMG160_BW_23_HZ                    (0x04)
#define BMG160_BW_12_HZ                    (0x05)
#define BMG160_BW_64_HZ                    (0x06)
#define BMG160_BW_32_HZ                    (0x07)

/***********************************************/
/**\name    SLEEP DURATION DEFINITIONS*/
/**********************************************/

#define C_BMG160_NO_AUTO_SLEEP_DURN_U8X   (0)
#define C_BMG160_4MS_AUTO_SLEEP_DURN_U8X  (1)
#define C_BMG160_5MS_AUTO_SLEEP_DURN_U8X  (2)
#define C_BMG160_8MS_AUTO_SLEEP_DURN_U8X  (3)
#define C_BMG160_10MS_AUTO_SLEEP_DURN_U8X (4)
#define C_BMG160_15MS_AUTO_SLEEP_DURN_U8X (5)
#define C_BMG160_20MS_AUTO_SLEEP_DURN_U8X (6)
#define C_BMG160_40MS_AUTO_SLEEP_DURN_U8X (7)

/***********************************************/
/**\name    RANGE DEFINITIONS*/
/**********************************************/
#define BMG160_RANGE_2000                 (0x00)
#define BMG160_RANGE_1000                 (0x01)
#define BMG160_RANGE_500                  (0x02)
#define BMG160_RANGE_250                  (0x03)
#define BMG160_RANGE_125                  (0x04)

/***********************************************/
/**\name    SOFT RESET DEFINITIONS*/
/**********************************************/
#define BMG160_SOFT_RESET                 (0xB6)

/***********************************************/
/**\name    LATCH  DEFINITIONS*/
/**********************************************/
#define BMG160_NON_LATCH                  (0x00)
#define BMG160_LATCH_250_MS               (0x01)
#define BMG160_LATCH_500_MS               (0x02)
#define BMG160_LATCH_1_SEC                (0x03)
#define BMG160_LATCH_2_SEC                (0x04)
#define BMG160_LATCH_4_SEC                (0x05)
#define BMG160_LATCH_8_SEC                (0x06)
#define BMG160_LATCH_LATCHED              (0x07)
#define BMG160_LATCH_NON_LATCHED          (0x08)
#define BMG160_LATCH_250_MICRO_SEC        (0x09)
#define BMG160_LATCH_500_MICRO_SEC        (0x0A)
#define BMG160_LATCH_1_MILLI_SEC          (0x0B)
#define BMG160_LATCH_12_5_MILLI_SEC       (0x0C)
#define BMG160_LATCH_25_MILLI_SEC         (0x0D)
#define BMG160_LATCH_50_MILLI_SEC         (0x0E)

/***********************************************/
/**\name    OFFSET DEFINITIONS*/
/**********************************************/
#define BMG160_OFFSET_MASK_BYTE_OF_DATA   (0x0FF0)
#define BMG160_OFFSET_X_BIT_MASK1         (0x000C)
#define BMG160_OFFSET_X_BIT_MASK2         (0x0003)
#define BMG160_OFFSET_Y_Z_BIT_MASK1       (0x0001)
#define BMG160_OFFSET_Y_Z_BIT_MASK2       (0x000E)

/***********************************************/
/**\name    BUS READ AND WRITE FUNCTION POINTERS DEFINITIONS*/
/**********************************************/
#define BMG160_WR_FUNC_PTR                s8 (*bus_write) \
        (u8, u8, u8 *, u8)
#define BMG160_RD_FUNC_PTR                s8 (*bus_read) \
        (u8, u8, u8 *, u8)
#define BMG160_BRD_FUNC_PTR               s8 (*burst_read) \
        (u8, u8, u8 *, u16)
#define BMG160_MDELAY_DATA_TYPE           u32

/**************************************************************/
/**\name    STRUCTURE DEFINITIONS                         */
/**************************************************************/

/*!
 * @brief Structure containing gyro xyz data
 */
struct bmg160_data_t
{
    s16 datax; /**<gyro X  data*/
    s16 datay; /**<gyro Y  data*/
    s16 dataz; /**<gyro Z  data*/
    u8 intstatus[5]; /**<gyro interrupt status*/
};

/*!
 * @brief Structure containing gyro offset xyz data
 */
struct bmg160_offset_t
{
    u16 datax; /**<offset X  data*/
    u16 datay; /**<offset Y  data*/
    u16 dataz; /**<offset Z  data*/
};

/*!
 *  @brief bmg160_t structure
 *  This structure holds all relevant information about bmg160
 */
struct bmg160_t
{
    u8 chip_id; /**< chip id of BMG160 */
    u8 dev_addr; /**< device address of BMG160 */
    BMG160_BRD_FUNC_PTR; /**< burst read function pointer of BMG160 */
    BMG160_WR_FUNC_PTR; /**< bus write function pointer of BMG160 */
    BMG160_RD_FUNC_PTR; /**< bus read function pointer of BMG160 */
    void (*delay_msec)(u32); /**< delay function pointer of BMG160 */
};

/*!
 *  @brief FIFO configurations are stored in this structure
 *
 *  @note User should map the following before reading the FIFO data
 *    - buffer for storing the FIFO data should be mapped to the member
 *     "fifo_data" of this structure
 *    - Number of bytes to be read from the FIFO should be mapped to the member
 *     "fifo_length" of this structure
 */
struct fifo_configuration
{
    /*! Data buffer of user defined length is to be mapped here */
    u8 *fifo_data;

    /*! No of bytes to be read in FIFO as specified by the user */
    u16 fifo_length;
};

/***********************************************/
/**\name    FUNCTION DECLARATIONS */
/**********************************************/

/*!
 *  @brief This function is used for initialize
 *  the bus read and bus write functions
 *  and assign the chip id and I2C address of the gyro
 *  chip id is read in the register 0x00 bit from 0 to 7
 *
 *  @param bmg160 structure pointer.
 *
 *  @note While changing the parameter of the bmg160_t
 *  consider the following point:
 *  @note Changing the reference value of the parameter
 *  will changes the local copy or local reference
 *  make sure your changes will not
 *  affect the reference value of the parameter
 *  (Better case don't change the reference value of the parameter)
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_init(struct bmg160_t *bmg160);

/***********************************************/
/**\name    DATA READ XYZ */
/**********************************************/

/*!
 * @brief Reads Rate data X in the registers 0x02 to 0x03
 *
 *
 *
 *
 *  @param v_data_x_s16: The value of gyro x axis data
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_data_x(s16 *v_data_x_s16);

/*!
 * @brief Reads Rate data Y in the registers 0x04 to 0x05
 *
 *
 *
 *
 *  @param v_data_y_s16: The value of gyro y axis data
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_data_y(s16 *v_data_y_s16);

/*!
 *  @brief Reads Rate data Z in the registers 0x06 to 0x07
 *
 *
 *  @param v_data_z_s16: The value of gyro z axis data
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_data_z(s16 *v_data_z_s16);

/*!
 * @brief Reads data X,Y and Z from register location 0x02 to 0x07
 *
 *
 *
 *
 *  @param data: The value of gyro xyz axis data
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_data_xyz(struct bmg160_data_t *data);

/*!
 *  @brief Reads data X,Y,Z and Interrupts
 *  from register location 0x02 to 0x07
 *
 *
 *  @param data: The value of gyro xyz axis data and interrupt status
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_data_xyzi(struct bmg160_data_t *data);

/***********************************************/
/**\name    TEMPERATURE DATA READ */
/**********************************************/

/*!
 * @brief Reads Temperature from register location 0x08
 *
 *
 *
 *
 *  @param v_temp_s8: The value of temperature
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_temp(s8 *v_temp_s8);

/***********************************************/
/**\name    COMMON READ AND WRITE FUNCTIONS */
/**********************************************/

/*!
 * @brief
 *  This API reads the data from
 *  the given register
 *
 *
 *  @param v_addr_u8 -> Address of the register
 *  @param v_data_u8 -> The data from the register
 *  @param v_len_u8 -> no of bytes to read
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_read_register(u8 v_addr_u8, u8 *v_data_u8, u8 v_len_u8);

/*!
 * @brief
 *  This API reads the data from
 *  the given register
 *
 *
 *  @param v_addr_u8 -> Address of the register
 *  @param v_data_u8 -> The data from the register
 *  @param v_len_u16 -> no of bytes to read
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_burst_read(u8 v_addr_u8, u8 *v_data_u8, u16 v_len_u16);

/*!
 * @brief
 *  This API write the data to
 *  the given register
 *
 *
 *  @param v_addr_u8 -> Address of the register
 *  @param v_data_u8 -> The data from the register
 *  @param v_len_u8 -> no of bytes to read
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_write_register(u8 v_addr_u8, u8 *v_data_u8, u8 v_len_u8);

/***********************************************/
/**\name    INTERRUPT STATUS */
/**********************************************/

/*!
 *  @brief This api used to reads interrupt status of
 *  any motion and high rate in the register 0x09
 *  @note  any motion bit   ->  2
 *  @note high rate bit ->  1
 *
 *
 *
 *  @param v_stat0_data_u8 : The interrupt status of
 *  any motion and high rate
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_intr_stat_reg_zero(u8 *v_stat0_data_u8);

/*!
 *  @brief This api used to reads the interrupt status of
 *  data, auto_offset, fast_offset and fifo_int in the register 0x0A
 *  @note data bit          ->  7
 *  @note auto_offset bit   ->  6
 *  @note fast_offset bit   ->  5
 *  @note fifo_int bit      ->  4
 *
 *
 *
 *  @param
 *  v_stat1_data_u8 : The interrupt status of
 *  data, auto_offset, fast_offset and fifo_int
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_intr_stat_reg_one(u8 *v_stat1_data_u8);

/*!
 *  @brief This api used to reads the interrupt status of
 *  @note any motion sign, any motion first_z, any motion
 *  first_x and any motion first_y in the register 0x0B
 *  @note any motion sign bit       ->  3
 *  @note any motion first_z bit    ->  2
 *  @note any motion first_x bit    ->  1
 *  @note any motion first_y bit    ->  0
 *
 *
 *
 *  @param
 *  v_stat2_data_u8 : Pointer holding the the interrupt status of
 *  any motion sign, any motion first_z,
 *  any motion first_x and any motion first_y
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_intr_stat_reg_two(u8 *v_stat2_data_u8);

/*!
 *  @brief This api used to reads the interrupt status of
 *  high_rate sign, high_rate first_z, high_rate first_x
 *  and high_rate first_y in the register 0x0C
 *  @note high_rate sign bit        ->  3
 *  @note high_rate first_z bit ->  2
 *  @note high_rate first_x bit ->  1
 *  @note high_rate first_y bit ->  0
 *  @note high_rate first_y bit ->  0
 *
 *
 *
 *  @param
 *  v_stat3_data_u8 : The interrupt status of
 *  high_rate sign, high_rate first_z,
 *  high_rate first_x and high_rate first_y
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_intr_stat_reg_three(u8 *v_stat3_data_u8);

/***********************************************/
/**\name     RANGE*/
/**********************************************/

/*!
 *  @brief This API is used to get
 *  the range in the register 0x0F bits from 0 to 2
 *
 *  @param v_range_u8 : The value of gyro range
 *  value    |   range
 * ----------|-----------
 *    0x00   | BMG160_RANGE_2000
 *    0x01   | BMG160_RANGE_1000
 *    0x02   | BMG160_RANGE_500
 *    0x03   | BMG160_RANGE_250
 *    0x04   | BMG160_RANGE_125
 *
 *
 *
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_range_reg(u8 *v_range_u8);

/*!
 *  @brief This API is used to set
 *  the range in the register 0x0F bits from 0 to 2
 *
 *  @param v_range_u8 : The value of gyro range
 *  value    |   range
 * ----------|-----------
 *    0x00   | BMG160_RANGE_2000
 *    0x01   | BMG160_RANGE_1000
 *    0x02   | BMG160_RANGE_500
 *    0x03   | BMG160_RANGE_250
 *    0x04   | BMG160_RANGE_125
 *
 *
 *
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_range_reg(u8 v_range_u8);

/***********************************************/
/**\name    BANDWIDTH  */
/**********************************************/

/*!
 *  @brief This API is used to get the gyro bandwidth
 *  in the register 0x10 bits from 0 to 3
 *
 *
 *
 *
 *
 *  @param  v_bw_u8: The value of gyro bandwidth
 *  value   |  bandwidth
 * ---------|---------------
 *   0x00   |  BMG160_BW_500_HZ
 *   0x01   |  BMG160_BW_230_HZ
 *   0x02   |  BMG160_BW_116_HZ
 *   0x03   |  BMG160_BW_47_HZ
 *   0x04   |  BMG160_BW_23_HZ
 *   0x05   |  BMG160_BW_12_HZ
 *   0x06   |  BMG160_BW_64_HZ
 *   0x07   |  BMG160_BW_32_HZ
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_bw(u8 *v_bw_u8);

/*!
 *  @brief This API is used to set the gyro bandwidth
 *  in the register 0x10 bits from 0 to 3
 *
 *
 *
 *
 *
 *  @param  v_bw_u8: The value of gyro bandwidth
 *  value   |  bandwidth
 * ---------|---------------
 *   0x00   |  BMG160_BW_500_HZ
 *   0x01   |  BMG160_BW_230_HZ
 *   0x02   |  BMG160_BW_116_HZ
 *   0x03   |  BMG160_BW_47_HZ
 *   0x04   |  BMG160_BW_23_HZ
 *   0x05   |  BMG160_BW_12_HZ
 *   0x06   |  BMG160_BW_64_HZ
 *   0x07   |  BMG160_BW_32_HZ
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_bw(u8 v_bw_u8);

/***********************************************/
/**\name     POWER MODE TRIGGER */
/**********************************************/

/*!
 *  @brief This API used to get the status of
 *  External Trigger selection in the register 0x12h bits from 4 to 5
 *
 *
 *
 *
 *  @param v_pwu_ext_tri_select_u8 : The value of External Trigger selection
 *  v_pwu_ext_tri_select_u8  |  Trigger source
 * --------------------------|-------------------------
 *      0x00                 |      No
 *      0x01                 |   INT1 pin
 *      0x02                 |   INT2 pin
 *      0x03                 |  SDO pin(SPI3 mode)
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_pmu_ext_tri_select(u8 *v_pwu_ext_tri_select_u8);

/*!
 *  @brief This API used to set the status of
 *  External Trigger selection in the register 0x12h bits from 4 to 5
 *
 *
 *
 *
 *  @param v_pwu_ext_tri_select_u8 : The value of External Trigger selection
 *  v_pwu_ext_tri_select_u8  |  Trigger source
 * --------------------------|-------------------------
 *      0x00                 |      No
 *      0x01                 |   INT1 pin
 *      0x02                 |   INT2 pin
 *      0x03                 |  SDO pin(SPI3 mode)
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_pmu_ext_tri_select(u8 v_pwu_ext_tri_select_u8);

/***********************************************/
/**\name     HIGH BANDWIDTH*/
/**********************************************/

/*!
 *  @brief  This API is used to get data high bandwidth
 *  in the register 0x13 bit 7
 *
 *
 *
 *  @param v_high_bw_u8 : The value of high bandwidth
 *  value   |  Description
 * ---------|--------------
 *    1     | unfiltered
 *    0     | filtered
 *
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_high_bw(u8 *v_high_bw_u8);

/*!
 *  @brief  This API is used to set data high bandwidth
 *  in the register 0x13 bit 7
 *
 *
 *
 *  @param v_high_bw_u8 : The value of high bandwidth
 *  value   |  Description
 * ---------|--------------
 *    1     | unfiltered
 *    0     | filtered
 *
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_high_bw(u8 v_high_bw_u8);

/***********************************************/
/**\name     SHADOW DIS*/
/**********************************************/

/*!
 *  @brief  This API is used to get the shadow dis
 *  in the register 0x13 bit 6
 *
 *
 *
 *  @param v_shadow_dis_u8 : The value of shadow dis
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_shadow_dis(u8 *v_shadow_dis_u8);

/*!
 *  @brief  This API is used to set the shadow dis
 *  in the register 0x13 bit 6
 *
 *
 *
 *  @param v_shadow_dis_u8 : The value of shadow dis
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_shadow_dis(u8 v_shadow_dis_u8);

/***********************************************/
/**\name     OFFSET RESET */
/**********************************************/

/*!
 *  This function is used for the soft reset
 *  The soft reset register will be written with 0xB6 in the register 0x14.
 *
 *
 *
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_soft_rst(void);

/***********************************************/
/**\name      DATA INTERRUPT */
/**********************************************/

/*!
 *  @brief This API is used to get the data(data_enable)
 *  interrupt enable bits of the sensor in the registers 0x15 bit 7
 *
 *
 *
 *
 *  @param v_data_enable_u8 : The value of data enable
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_data_enable(u8 *v_data_enable_u8);

/*!
 *  @brief This API is used to set the data(data_enable)
 *  interrupt enable bits of the sensor in the registers 0x15 bit 7
 *
 *
 *
 *
 *  @param v_data_enable_u8 : The value of data enable
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_data_enable(u8 v_data_enable_u8);

/***********************************************/
/**\name     FIFO INTERRUPT */
/**********************************************/

/*!
 *  @brief This API is used to get the fifo(fifo_enable)
 *  interrupt enable bits of the sensor in the registers 0x15 bit 6
 *
 *
 *
 *
 *  @param v_fifo_enable_u8 : The value of  fifo enable
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_fifo_enable(u8 *v_fifo_enable_u8);

/*!
 *  @brief This API is used to set the fifo(fifo_enable)
 *  interrupt enable bits of the sensor in the registers 0x15 bit 6
 *
 *
 *
 *
 *  @param v_fifo_enable_u8 : The value of  fifo enable
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_fifo_enable(u8 v_fifo_enable_u8);

/***********************************************/
/**\name     AUTO OFFSET INTERRUPT */
/**********************************************/

/*!
 *  @brief This API is used to get
 *  the auto offset(auto_offset_enable) interrupt enable bits of
 *  the sensor in the registers 0x15 bit 3
 *
 *
 *
 *  @param v_offset_enable_u8 : The value of offset enable
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_auto_offset_enable(u8 *v_offset_enable_u8);

/*!
 *  @brief This API is used to set
 *  the auto offset(auto_offset_enable) interrupt enable bits of
 *  the sensor in the registers 0x15 bit 3
 *
 *
 *
 *  @param v_offset_enable_u8 : The value of offset enable
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_auto_offset_enable(u8 v_offset_enable_u8);

/***********************************************/
/**\name     OUTPUT TYPE AND LEVEL CONFIGURATION FOR INTERRUPT */
/**********************************************/

/*!
 *  @brief This API is used to get
 *  the output type status in the register 0x16.
 *  @note INT1 -> bit 1
 *  @note INT2 -> bit 3
 *
 *  @param  v_param_u8: The value of output type selection number
 *    v_param_u8| output type
 *  ------------|--------------
 *      0       |   BMG160_INTR1
 *      1       |   BMG160_INTR2
 *
 *  @param v_intr_output_type_u8: The value of output type
 *   value    |  output
 * -----------|-------------
 *    1       | open drain
 *    0       | push pull
 *
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_intr_output_type(u8 v_param_u8, u8 *v_intr_output_type_u8);

/*!
 *  @brief This API is used to set
 *  the output type status in the register 0x16.
 *  @note INT1 -> bit 1
 *  @note INT2 -> bit 3
 *
 *  @param  v_param_u8: The value of output type selection number
 *    v_param_u8| output type
 *  ------------|--------------
 *      0       |   BMG160_INTR1
 *      1       |   BMG160_INTR2
 *
 *  @param v_intr_output_type_u8: The value of output type
 *   value    |  output
 * -----------|-------------
 *    1       | open drain
 *    0       | push pull
 *
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_intr_output_type(u8 v_param_u8, u8 v_intr_output_type_u8);

/*!
 *  @brief This API is used to get
 *  Active Level status in the register 0x16
 *  @note INT1 -> bit 0
 *  @note INT2 -> bit 2
 *
 *  @param  v_param_u8: The value of Active Level selection number
 *    v_param_u8| Active Level
 *  ------------|--------------
 *      0       |   BMG160_INTR1
 *      1       |   BMG160_INTR2
 *
 *  @param  v_intr_level_u8: The  value of Active Level status value
 *   value    |  Active Level
 * -----------|-------------
 *    1       | Active HIGH
 *    0       | Active LOW
 *
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_intr_level(u8 v_param_u8, u8 *v_intr_level_u8);

/*!
 *  @brief This API is used to set
 *  Active Level status in the register 0x16
 *  @note INT1 -> bit 0
 *  @note INT2 -> bit 2
 *
 *  @param  v_param_u8: The value of Active Level selection number
 *    v_param_u8| Active Level
 *  ------------|--------------
 *      0       |   BMG160_INTR1
 *      1       |   BMG160_INTR2
 *
 *  @param  v_intr_level_u8: The  value of Active Level status value
 *   value    |  Active Level
 * -----------|-------------
 *    1       | Active HIGH
 *    0       | Active LOW
 *
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_intr_level(u8 v_param_u8, u8 v_intr_level_u8);

/***********************************************/
/**\name     HIGH RATE INTERRUPT */
/**********************************************/

/*!
 *  @brief This API is used to get
 *  the high rate(int1_high) interrupt1 enable bits of
 *  the sensor in the registers 0x17 bit 3
 *
 *
 *
 *  @param v_intr1_u8 : The value of interrupt1 high_rate enable
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_intr1_highrate(u8 *v_intr1_u8);

/*!
 *  @brief This API is used to set
 *  the high rate(int1_high) interrupt1 enable bits of
 *  the sensor in the registers 0x17 bit 3
 *
 *
 *
 *  @param v_intr1_u8 : The value of interrupt1 high_rate enable
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_intr1_highrate(u8 v_intr1_u8);

/***********************************************/
/**\name     ANY MOTION INTERRUPT */
/**********************************************/

/*!
 *  @brief This API is used to get
 *  the any motion(int1_any) interrupt1 enable bits of
 *  the sensor in the registers 0x17 bit 1
 *
 *
 *
 *  @param v_int1r_any_motion_u8 : The value of any motion interrupt1
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_intr1_any_motion(u8 *v_int1r_any_motion_u8);

/*!
 *  @brief This API is used to set
 *  the any motion(int1_any) interrupt1 enable bits of
 *  the sensor in the registers 0x17 bit 1
 *
 *
 *
 *  @param v_int1r_any_motion_u8 : The value of any motion interrupt1
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_intr1_any_motion(u8 v_int1r_any_motion_u8);

/***********************************************/
/**\name     DATA INTERRUPT */
/**********************************************/

/*!
 *  @brief This API is used to get
 *  the data interrupt1 and interrupt2(int1_data and int2_data)
 *  in the register 0x18
 *  @note INT1 -> bit 0
 *  @note INT2 -> bit 7
 *
 *  @param  v_axis_u8: data interrupt selection
 *    v_axis_u8 | Data interrupt
 *  ------------|--------------
 *      0       |   BMG160_INTR1_DATA
 *      1       |   BMG160_INTR2_DATA
 *
 *  @param  v_intr_data_u8: The value of data interrupt1 or interrupt2
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_intr_data(u8 v_axis_u8, u8 *v_intr_data_u8);

/*!
 *  @brief This API is used to set
 *  the data interrupt1 and interrupt2(int1_data and int2_data)
 *  in the register 0x18
 *  @note INT1 -> bit 0
 *  @note INT2 -> bit 7
 *
 *  @param  v_axis_u8: data interrupt selection
 *    v_axis_u8 | Data interrupt
 *  ------------|--------------
 *      0       |   BMG160_INTR1_DATA
 *      1       |   BMG160_INTR2_DATA
 *
 *  @param  v_intr_data_u8: The value of data interrupt1 or interrupt2
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_intr_data(u8 v_axis_u8, u8 v_intr_data_u8);

/***********************************************/
/**\name     OFFSET AND AUTO OFFSET ENABLE */
/**********************************************/

/*!
 *  @brief This API is used to get
 *  the fast offset(intr2_fast_offset) and auto offset(intr2_auto_offset)
 *  of interrupt2 in the register 0x18
 *  @note int2_fast_offset -> bit 6
 *  @note int2_auto_offset -> bit 4
 *
 *  @param v_axis_u8: The value of fast/auto offset interrupts selection
 *    v_axis_u8 | Data interrupt
 *  ------------|--------------
 *      1       |   BMG160_FAST_OFFSET
 *      2       |   BMG160_AUTO_OFFSET
 *
 *  @param v_intr2_offset_u8: The value of fast/auto offset enable
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_intr2_offset(u8 v_axis_u8, u8 *v_intr2_offset_u8);

/*!
 *  @brief This API is used to set
 *  the fast offset(intr2_fast_offset) and auto offset(intr2_auto_offset)
 *  of interrupt2 in the register 0x18
 *  @note int2_fast_offset -> bit 6
 *  @note int2_auto_offset -> bit 4
 *
 *  @param v_axis_u8: The value of fast/auto offset interrupts selection
 *    v_axis_u8 | Data interrupt
 *  ------------|--------------
 *      1       |   BMG160_FAST_OFFSET
 *      2       |   BMG160_AUTO_OFFSET
 *
 *  @param v_intr2_offset_u8: The value of fast/auto offset enable
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_intr2_offset(u8 v_axis_u8, u8 v_intr2_offset_u8);

/*!
 *  @brief This API is used to get
 *  the fast offset(int1_fast_offset) and auto offset(int1_auto_offset)
 *  of interrupt1 in the register 0x18
 *  @note int1_fast_offset -> bit 1
 *  @note int1_auto_offset -> bit 3
 *
 *  @param v_axis_u8: The value of fast/auto offset interrupts selection
 *    v_axis_u8 | Data interrupt
 *  ------------|--------------
 *      1       |   BMG160_FAST_OFFSET
 *      2       |   BMG160_AUTO_OFFSET
 *
 *  @param v_intr1_offset_u8: The value of fast/auto offset
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_intr_offset(u8 v_axis_u8, u8 *v_intr1_offset_u8);

/*!
 *  @brief This API is used to set
 *  the fast offset(int1_fast_offset) and auto offset(int1_auto_offset)
 *  of interrupt1 in the register 0x18
 *  @note int1_fast_offset -> bit 1
 *  @note int1_auto_offset -> bit 3
 *
 *  @param v_axis_u8: The value of fast/auto offset interrupts selection
 *    v_axis_u8 | Data interrupt
 *  ------------|--------------
 *      1       |   BMG160_FAST_OFFSET
 *      2       |   BMG160_AUTO_OFFSET
 *
 *  @param v_intr1_offset_u8: The value of fast/auto offset
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_intr1_offset(u8 v_axis_u8, u8 v_intr1_offset_u8);

/***********************************************/
/**\name    FIFO ENABLE */
/**********************************************/

/*!
 *  @brief This API is used to get
 *  the fifo(int2_fifo) interrupt2 enable bits of
 *  the sensor in the registers 0x18 bit 5
 *
 *
 *
 *  @param v_intr_fifo_u8 : The interrupt2 fifo value
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_intr2_fifo(u8 *v_intr_fifo_u8);

/*!
 *  @brief This API is used to get
 *  the fifo(int1_fifo) interrupt1 enable bits of
 *  the sensor in the registers 0x18 bit 5
 *
 *
 *
 *  @param v_intr_fifo_u8 : The interrupt1 fifo value
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_intr1_fifo(u8 *v_intr_fifo_u8);

/*!
 *  @brief This API is used to set the value of
 *  the fifo interrupt1 and interrupt2(int1_fifo and int2_fifo)
 *  in the register 0x18
 *  @note int1_fifo -> bit 2
 *  @note int2_fifo -> bit 5
 *
 *  @param v_axis_u8: The value of fifo interrupts selection
 *    v_axis_u8 | fifo interrupt
 *  ------------|--------------
 *      0       |   BMG160_INTR1
 *      1       |   BMG160_INTR2
 *
 *  @param v_intr_fifo_u8: the value of int1_fifo/int2_fifo enable/disable
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_intr_fifo(u8 v_axis_u8, u8 v_intr_fifo_u8);

/***********************************************/
/**\name    HIGH RATE ENABLE */
/**********************************************/

/*!
 *  @brief This API is used to get
 *  the high rate(int2_high_rate) interrupt2 enable bits of
 *  the sensor in the registers 0x19 bit 3
 *
 *
 *
 *  @param v_intr2_highrate_u8 : The interrupt2 high_rate value
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_intr2_highrate(u8 *v_intr2_highrate_u8);

/*!
 *  @brief This API is used to set
 *  the high rate(int2_high_rate) interrupt2 enable bits of
 *  the sensor in the registers 0x19 bit 3
 *
 *
 *
 *  @param v_intr2_highrate_u8 : The interrupt2 high_rate value
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_intr2_highrate(u8 v_intr2_highrate_u8);

/***********************************************/
/**\name    ANY MOTION ENABLE */
/**********************************************/

/*!
 *  @brief This API is used to get
 *  the any motion(int2_any_motion) interrupt2 enable bits of
 *  the sensor in the registers 0x19 bit 1
 *
 *
 *
 *  @param v_intr2_any_motion_u8 : The value of interrupt2 any_motion
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_intr2_any_motion(u8 *v_intr2_any_motion_u8);

/*!
 *  @brief This API is used to set
 *  the any motion(int2_any_motion) interrupt2 enable bits of
 *  the sensor in the registers 0x19 bit 1
 *
 *
 *
 *  @param v_intr2_any_motion_u8 : The value of interrupt2 any_motion
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_intr2_any_motion(u8 v_intr2_any_motion_u8);

/***********************************************/
/**\name    OFFSET UNFILT ENABLE */
/**********************************************/

/*!
 *  @brief This API is used to get
 *  the slow offset and fast offset unfilt data in the register 0x1A and 1B
 *  @note slow_offset_unfilt -> 0x1A bit 5
 *  @note fast_offset_unfilt -> 0x1B bit 7
 *
 *  @param  v_param_u8: The value of fast/slow offset unfilt data selection
 *   v_param_u8 | offset selection
 *  ------------|--------------
 *      0       |   BMG160_SLOW_OFFSET
 *      1       |   BMG160_FAST_OFFSET
 *
 *  @param v_offset_unfilt_u8: The value of fast/slow offset unfilt data
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_offset_unfilt(u8 v_param_u8, u8 *v_offset_unfilt_u8);

/*!
 *  @brief This API is used to set
 *  the slow offset and fast offset unfilt data in the register 0x1A and 1B
 *  @note slow_offset_unfilt -> 0x1A bit 5
 *  @note fast_offset_unfilt -> 0x1B bit 7
 *
 *  @param  v_param_u8: The value of fast/slow offset unfilt data selection
 *   v_param_u8 | offset selection
 *  ------------|--------------
 *      0       |   BMG160_SLOW_OFFSET
 *      1       |   BMG160_FAST_OFFSET
 *
 *  @param v_offset_unfilt_u8: The value of fast/slow offset unfilt data
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_offset_unfilt(u8 v_param_u8, u8 v_offset_unfilt_u8);

/*!
 *  @brief This API is used to get
 *  the any motion  and high rate unfilt data in the register 0x1A
 *  @note any_unfilt_data -> bit 1
 *  @note high_unfilt_data -> bit 3
 *
 *  @param  v_param_u8: The value of any/high offset unfilt data selection
 *   v_param_u8 | offset selection
 *  ------------|--------------
 *      1       |   BMG160_HIGHRATE_UNFILT_DATA
 *      3       |   BMG160_ANY_MOTION_UNFILT_DATA
 *
 *  @param v_unfilt_data_u8: The value of any/high unfilt data
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_unfilt_data(u8 v_param_u8, u8 *v_unfilt_data_u8);

/*!
 *  @brief This API is used to set
 *  the any motion  and high rate unfilt data in the register 0x1A
 *  @note any_unfilt_data -> bit 1
 *  @note high_unfilt_data -> bit 3
 *
 *  @param  v_param_u8: The value of any/high offset unfilt data selection
 *   v_param_u8 | offset selection
 *  ------------|--------------
 *      1       |   BMG160_HIGHRATE_UNFILT_DATA
 *      3       |   BMG160_ANY_MOTION_UNFILT_DATA
 *
 *  @param v_unfilt_data_u8: The value of any/high unfilt data
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_unfilt_data(u8 v_param_u8, u8 v_unfilt_data_u8);

/***********************************************/
/**\name    ANY-MOTION CONFIGURATION  */
/**********************************************/

/*!
 *  @brief This API is used to get Any motion Threshold
 *  in the register 0x1B bit from 0 to 6
 *
 *
 *
 *  @param v_any_motion_thres_u8 : The value of any_motion Threshold
 *
 *  @note Any motion threshold can be calculate using
 *  @note ((1+ v_any_motion_thres_u8)*16LSB)
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_any_motion_thres(u8 *v_any_motion_thres_u8);

/*!
 *  @brief This API is used to set Any motion Threshold
 *  in the register 0x1B bit from 0 to 6
 *
 *
 *
 *  @param v_any_motion_thres_u8 : The value of any_motion Threshold
 *
 *  @note Any motion threshold can be calculate using
 *  @note ((1+ v_any_motion_thres_u8)*16LSB)
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_any_motion_thres(u8 v_any_motion_thres_u8);

/*!
 *  @brief This API is used to get the awake Duration
 *  in the register 0x1C bit 6 and 7
 *
 *
 *
 *  @param v_awake_durn_u8 : The value of awake Duration
 *  value   |  Duration
 * ---------|-----------
 *   0x00   | 8 samples
 *   0x01   | 16 samples
 *   0x02   | 32 samples
 *   0x03   | 64 samples
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_awake_durn(u8 *v_awake_durn_u8);

/*!
 *  @brief This API is used to set the awake Duration
 *  in the register 0x1C bit 6 and 7
 *
 *
 *
 *  @param v_awake_durn_u8 : The value of awake Duration
 *  value   |  Duration
 * ---------|-----------
 *   0x00   | 8 samples
 *   0x01   | 16 samples
 *   0x02   | 32 samples
 *   0x03   | 64 samples
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_awake_durn(u8 v_awake_durn_u8);

/*!
 *  @brief This API is used to get
 *  the any motion Duration samples in the register 0x1C bit 4 and 5
 *
 *
 *
 *  @param v_durn_sample_u8 : The value of any motion duration samples
 *  value   |  Samples
 * ---------|-----------
 *   0x00   | 4 samples
 *   0x01   | 8 samples
 *   0x02   | 12 samples
 *   0x03   | 16 samples
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_any_motion_durn_sample(u8 *v_durn_sample_u8);

/*!
 *  @brief This API is used to set
 *  the any motion Duration samples in the register 0x1C bit 4 and 5
 *
 *
 *
 *  @param v_durn_sample_u8 : The value of any motion duration samples
 *  value   |  Samples
 * ---------|-----------
 *   0x00   | 4 samples
 *   0x01   | 8 samples
 *   0x02   | 12 samples
 *   0x03   | 16 samples
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_any_motion_durn_sample(u8 v_durn_sample_u8);

/*!
 *  @brief This API is used to get the status of
 *  Any motion interrupt axis(X,Y,Z) enable channel
 *  @note BMG160_X_AXIS -> bit 0
 *  @note BMG160_Y_AXIS -> bit 1
 *  @note BMG160_Z_AXIS -> bit 2
 *
 *  @param v_channel_u8 : The value of Any Enable channel number
 *   v_channel_u8 | axis
 *  --------------|--------------
 *      0         | BMG160_X_AXIS
 *      1         | BMG160_Y_AXIS
 *      2         | BMG160_Z_AXIS
 *
 *  @param v_any_motion_axis_u8: The value of Any motion axis enable
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_any_motion_enable_axis(u8 v_channel_u8, u8 *v_any_motion_axis_u8);

/*!
 *  @brief This API is used to set the status of
 *  Any motion interrupt axis(X,Y,Z) enable channel
 *  @note BMG160_X_AXIS -> bit 0
 *  @note BMG160_Y_AXIS -> bit 1
 *  @note BMG160_Z_AXIS -> bit 2
 *
 *  @param v_channel_u8 : The value of Any Enable channel number
 *   v_channel_u8 | axis
 *  --------------|--------------
 *      0         | BMG160_X_AXIS
 *      1         | BMG160_Y_AXIS
 *      2         | BMG160_Z_AXIS
 *
 *  @param v_any_motion_axis_u8: The value of Any motion axis enable
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_any_motion_enable_axis(u8 v_channel_u8, u8 v_any_motion_axis_u8);

/***********************************************/
/**\name    FIFO CONFIGURATION  */
/**********************************************/

/*!
 *  @brief This API is used to get
 *  the status of fifo water mark in the register 0x1E bit 7
 *
 *
 *
 *  @param v_fifo_wm_enable_u8 : The value of fifo water mark enable
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_fifo_wm_enable(u8 *v_fifo_wm_enable_u8);

/*!
 *  @brief This API is used to set
 *  the status of fifo water mark in the register 0x1E bit 7
 *
 *
 *
 *  @param v_fifo_wm_enable_u8 : The value of fifo water mark enable
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_fifo_wm_enable(u8 v_fifo_wm_enable_u8);

/***********************************************/
/**\name    RESET INTERRUPT AND OFFSET CONFIGURATION  */
/**********************************************/

/*!
 *  @brief This API is used to set the Interrupt Reset
 *  in the register 0x21 bit 7
 *
 *
 *
 *  @param v_rst_int_u8: the value of reset interrupt
 *
 *
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_rst_intr(u8 v_rst_int_u8);

/*!
 *  @brief This API is used to set the offset Reset
 *  in the register 0x21 bit 6
 *
 *
 *
 *  @param v_offset_rst_u8: the value of reset offset
 *
 *
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_offset_rst(u8 v_offset_rst_u8);

/***********************************************/
/**\name    LATCH CONFIGURATION  */
/**********************************************/

/*!
 *  @brief This API is used to get the Latch Status
 *  in the register 0x21 bit 4
 *
 *
 *
 *  @param v_latch_stat_u8 : The value of latch status
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_latch_stat(u8 *v_latch_stat_u8);

/*!
 *  @brief This API is used to set the Latch Status
 *  in the register 0x21 bit 4
 *
 *
 *
 *  @param v_latch_stat_u8 : The value of latch status
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_latch_stat(u8 v_latch_stat_u8);

/*!
 *  @brief This API is used to get the Latch interrupt
 *  in the register 0x21 bit from 0 to 3
 *
 *
 *
 *  @param v_latch_intr_u8 : The value of latch interrupt
 *      Latch Interrupt        |  Value
 * ----------------------------|-----------------
 * BMG160_NON_LATCH            | 0x00
 * BMG160_LATCH_250_MS         | 0x01
 * BMG160_LATCH_500_MS         | 0x02
 * BMG160_LATCH_1_SEC          | 0x03
 * BMG160_LATCH_2_SEC          | 0x04
 * BMG160_LATCH_4_SEC          | 0x05
 * BMG160_LATCH_8_SEC          | 0x06
 * BMG160_LATCH_LATCHED        | 0x07
 * BMG160_LATCH_NON_LATCHED    | 0x08
 * BMG160_LATCH_250_MICRO_SEC  | 0x09
 * BMG160_LATCH_500_MICRO_SEC  | 0x0A
 * BMG160_LATCH_1_MILLI_SEC    | 0x0B
 * BMG160_LATCH_12.5_MILLI_SEC | 0x0C
 * BMG160_LATCH_25_MILLI_SEC   | 0x0D
 * BMG160_LATCH_50_MILLI_SEC   | 0x0E
 * BMG160_LATCH_LATCHED        | 0x0F
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_latch_intr(u8 *v_latch_intr_u8);

/*!
 *  @brief This API is used to set the Latch interrupt
 *  in the register 0x21 bit from 0 to 3
 *
 *
 *
 *  @param v_latch_intr_u8 : The value of latch interrupt
 *      Latch Interrupt        |  Value
 * ----------------------------|-----------------
 * BMG160_NON_LATCH            | 0x00
 * BMG160_LATCH_250_MS         | 0x01
 * BMG160_LATCH_500_MS         | 0x02
 * BMG160_LATCH_1_SEC          | 0x03
 * BMG160_LATCH_2_SEC          | 0x04
 * BMG160_LATCH_4_SEC          | 0x05
 * BMG160_LATCH_8_SEC          | 0x06
 * BMG160_LATCH_LATCHED        | 0x07
 * BMG160_LATCH_NON_LATCHED    | 0x08
 * BMG160_LATCH_250_MICRO_SEC  | 0x09
 * BMG160_LATCH_500_MICRO_SEC  | 0x0A
 * BMG160_LATCH_1_MILLI_SEC    | 0x0B
 * BMG160_LATCH_12.5_MILLI_SEC | 0x0C
 * BMG160_LATCH_25_MILLI_SEC   | 0x0D
 * BMG160_LATCH_50_MILLI_SEC   | 0x0E
 * BMG160_LATCH_LATCHED        | 0x0F
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_latch_intr(u8 v_latch_intr_u8);

/***********************************************/
/**\name    HIGH RATE CONFIGURATION  */
/**********************************************/

/*!
 *  @brief This API is used to get the status of High
 *  Hysteresis of X,Y,Z axis in the registers 0x22,0x24 and 0x26
 *  @note X_AXIS - 0x22 bit 6 and 7
 *  @note Y_AXIS - 0x24 bit 6 and 7
 *  @note Z_AXIS - 0x26 bit 6 and 7
 *
 *  @param v_channel_u8: The value of high Hysteresis channel number
 *  v_channel_u8  |    value
 *  --------------|--------------
 *  BMG160_X_AXIS |   0
 *  BMG160_Y_AXIS |   1
 *  BMG160_Z_AXIS |   2
 *
 *  @param v_highrate_hyst_u8: The value of high Hysteresis
 *
 *  @note High hysteresis can be calculated by
 *  @note High_hyst = ((255+256 *v_highrate_hyst_u8) * 4LSB)
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_highrate_hyst(u8 v_channel_u8, u8 *v_highrate_hyst_u8);

/*!
 *  @brief This API is used to set the status of High
 *  Hysteresis of X,Y,Z axis in the registers 0x22,0x24 and 0x26
 *  @note X_AXIS - 0x22 bit 6 and 7
 *  @note Y_AXIS - 0x24 bit 6 and 7
 *  @note Z_AXIS - 0x26 bit 6 and 7
 *
 *  @param v_channel_u8: The value of high Hysteresis channel number
 *  v_channel_u8  |    value
 *  --------------|--------------
 *  BMG160_X_AXIS |   0
 *  BMG160_Y_AXIS |   1
 *  BMG160_Z_AXIS |   2
 *
 *  @param v_highrate_hyst_u8: The value of high Hysteresis
 *
 *  @note High hysteresis can be calculated by
 *  @note High_hyst = ((255+256 *v_highrate_hyst_u8) * 4LSB)
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_highrate_hyst(u8 v_channel_u8, u8 v_highrate_hyst_u8);

/*!
 *  @brief This API is used to get the value of High rate
 *  Threshold of X,Y,Z axis in the registers 0x22, 0x24 and 0x26
 *  @note X_AXIS - 0x22 bit from 1 to 5
 *  @note Y_AXIS - 0x24 bit from 1 to 5
 *  @note Z_AXIS - 0x26 bit from 1 to 5
 *
 *  @param  v_channel_u8 : The value of high threshold channel number
 *  v_channel_u8  |    value
 *  --------------|--------------
 *  BMG160_X_AXIS |   0
 *  BMG160_Y_AXIS |   1
 *  BMG160_Z_AXIS |   2
 *
 *  @param v_highrate_thres_u8: the high threshold value
 *
 *  @note High Threshold can be calculated by
 *  @note High_thres = ((255+256 *v_highrate_thres_u8) * 4LSB)
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_highrate_thres(u8 v_channel_u8, u8 *v_highrate_thres_u8);

/*!
 *  @brief This API is used to set the value of High rate
 *  Threshold of X,Y,Z axis in the registers 0x22, 0x24 and 0x26
 *  @note X_AXIS - 0x22 bit from 1 to 5
 *  @note Y_AXIS - 0x24 bit from 1 to 5
 *  @note Z_AXIS - 0x26 bit from 1 to 5
 *
 *  @param  v_channel_u8 : The value of high threshold channel number
 *  v_channel_u8  |    value
 *  --------------|--------------
 *  BMG160_X_AXIS |   0
 *  BMG160_Y_AXIS |   1
 *  BMG160_Z_AXIS |   2
 *
 *  @param v_highrate_thres_u8: the high threshold value
 *
 *  @note High Threshold can be calculated by
 *  @note High_thres = ((255+256 *v_highrate_thres_u8) * 4LSB)
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_highrate_thres(u8 v_channel_u8, u8 v_highrate_thres_u8);

/*!
 * @brief This API is used to get the status of High Enable
 * Channel X,Y,Z in the registers 0x22, 0x24 and 0x26
 *  @note X_AXIS - 0x22 bit 0
 *  @note Y_AXIS - 0x24 bit 0
 *  @note Z_AXIS - 0x26 bit 0
 *
 *  @param v_channel_u8 : The value of high enable channel number
 *  v_channel_u8  |    value
 *  --------------|--------------
 *  BMG160_X_AXIS |   0
 *  BMG160_Y_AXIS |   1
 *  BMG160_Z_AXIS |   2
 *
 *  @param v_enable_u8: The value of high axis enable
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_highrate_enable_axis(u8 v_channel_u8, u8 *v_enable_u8);

/*!
 * @brief This API is used to set the status of High Enable
 * Channel X,Y,Z in the registers 0x22, 0x24 and 0x26
 *  @note X_AXIS - 0x22 bit 0
 *  @note Y_AXIS - 0x24 bit 0
 *  @note Z_AXIS - 0x26 bit 0
 *
 *  @param v_channel_u8 : The value of high enable channel number
 *  v_channel_u8  |    value
 *  --------------|--------------
 *  BMG160_X_AXIS |   0
 *  BMG160_Y_AXIS |   1
 *  BMG160_Z_AXIS |   2
 *
 *  @param v_enable_u8: The value of high axis enable
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_highrate_enable_axis(u8 v_channel_u8, u8 v_enable_u8);

/*!
 * @brief This API is used to get the status
 * of High duration of X,Y,Z axis in
 * the registers 0x23, 0x25 and 0x27
 *  @note X_AXIS - 0x23 bit form 0 to 7
 *  @note Y_AXIS - 0x25 bit form 0 to 7
 *  @note Z_AXIS - 0x27 bit form 0 to 7
 *
 *
 *
 *  @param  v_channel_u8: The value of High Duration channel number
 *  v_channel_u8  |    value
 *  --------------|--------------
 *  BMG160_X_AXIS |   0
 *  BMG160_Y_AXIS |   1
 *  BMG160_Z_AXIS |   2
 *
 *  @param v_highrate_durn_axis_u8: The value of high duration
 *
 *  @note High rate duration can be calculated by using the formula
 *  @note High_durn = ((1+v_highrate_durn_axis_u8)*2.5ms)
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_highrate_durn_axis(u8 v_channel_u8, u8 *v_highrate_durn_axis_u8);

/*!
 * @brief This API is used to set the value
 * of High duration of X,Y,Z axis in
 * the registers 0x23, 0x25 and 0x27
 *  @note X_AXIS - 0x23 bit form 0 to 7
 *  @note Y_AXIS - 0x25 bit form 0 to 7
 *  @note Z_AXIS - 0x27 bit form 0 to 7
 *
 *
 *
 *  @param  v_channel_u8: The value of High Duration channel number
 *  v_channel_u8  |    value
 *  --------------|--------------
 *  BMG160_X_AXIS |   0
 *  BMG160_Y_AXIS |   1
 *  BMG160_Z_AXIS |   2
 *
 *  @param v_highrate_durn_axis_u8: The value of high duration
 *
 *  @note High rate duration can be calculated by using the formula
 *  @note High_durn = ((1+v_highrate_durn_axis_u8)*2.5ms)
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_highrate_durn_axis(u8 v_channel_u8, u8 v_highrate_durn_axis_u8);

/***********************************************/
/**\name    SLOW OFFSET CONFIGURATION  */
/**********************************************/

/*!
 *  @brief This API is used to get Slow Offset Threshold
 *  status in the register 0x31 bit 6 and 7
 *
 *
 *
 *  @param v_offset_thres_u8 : The value of slow offset Threshold
 *  value    |   threshold
 * ----------|-------------
 *    0x00   | 0.1 degree/sec
 *    0x01   | 0.2 degree/sec
 *    0x02   | 0.5 degree/sec
 *    0x03   | 1 degree/sec
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_slow_offset_thres(u8 *v_offset_thres_u8);

/*!
 *  @brief This API is used to set Slow Offset Threshold
 *  status in the register 0x31 bit 6 and 7
 *
 *
 *
 *  @param v_offset_thres_u8 : The value of slow offset Threshold
 *  value    |   threshold
 * ----------|-------------
 *    0x00   | 0.1 degree/sec
 *    0x01   | 0.2 degree/sec
 *    0x02   | 0.5 degree/sec
 *    0x03   | 1 degree/sec
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_slow_offset_thres(u8 v_offset_thres_u8);

/*!
 *  @brief This API is used to get Slow Offset duration
 *  status in the register 0x31 bit 4,5 and 6
 *
 *
 *
 *  @param v_offset_durn_u8 : The value of Slow Offset duration
 *   value    |  Duration
 * -----------|-----------
 *    0x00    | 40ms
 *    0x01    | 80ms
 *    0x02    | 160ms
 *    0x03    | 320ms
 *    0x04    | 640ms
 *    0x05    | 1280ms
 *    0x06    | unused
 *    0x07    | unused
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_slow_offset_durn(u8 *v_offset_durn_u8);

/*!
 *  @brief This API is used to set Slow Offset duration
 *  status in the register 0x31 bit 4,5 and 6
 *
 *
 *
 *  @param v_offset_durn_u8 : The value of Slow Offset duration
 *   value    |  Duration
 * -----------|-----------
 *    0x00    | 40ms
 *    0x01    | 80ms
 *    0x02    | 160ms
 *    0x03    | 320ms
 *    0x04    | 640ms
 *    0x05    | 1280ms
 *    0x06    | unused
 *    0x07    | unused
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_slow_offset_durn(u8 v_offset_durn_u8);

/*!
 *  @brief This API is used to get Slow Offset Enable channel
 *  X,Y,Z in the register 0x31
 *  @note X_AXIS -> bit 0
 *  @note Y_AXIS -> bit 1
 *  @note Z_AXIS -> bit 2
 *
 *
 *  @param v_channel_u8: The value of slow offset channel number
 *  v_channel_u8  |    value
 *  --------------|--------------
 *  BMG160_X_AXIS |   0
 *  BMG160_Y_AXIS |   1
 *  BMG160_Z_AXIS |   2
 *
 *  @param v_slow_offset_u8: The slow offset value
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_slow_offset_enable_axis(u8 v_channel_u8, u8 *v_slow_offset_u8);

/*!
 *  @brief This API is used to set Slow Offset Enable channel
 *  X,Y,Z in the register 0x31
 *  @note X_AXIS -> bit 0
 *  @note Y_AXIS -> bit 1
 *  @note Z_AXIS -> bit 2
 *
 *
 *  @param v_channel_u8: The value of slow offset channel number
 *  v_channel_u8  |    value
 *  --------------|--------------
 *  BMG160_X_AXIS |   0
 *  BMG160_Y_AXIS |   1
 *  BMG160_Z_AXIS |   2
 *
 *  @param v_slow_offset_u8: The slow offset value
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_slow_offset_enable_axis(u8 v_channel_u8, u8 v_slow_offset_u8);

/*!
 *  @brief This API is used to get
 *  Fast Offset WordLength and Auto Offset WordLength in the register 0x32
 *  @note fast_offset_wordlength -> bit 4 and 5
 *  @note auto_offset_wordlength -> bit 6 and 7
 *
 *
 *  @param v_channel_u8: The value of WordLengthchannel number
 *  v_channel_u8          |    value
 *  ----------------------|--------------
 *  BMG160_AUTO_OFFSET_WL |   0
 *  BMG160_FAST_OFFSET_WL |   1
 *
 *  @param  v_offset_word_length_u8: The value of offset word length
 *   value    |  word length
 *  ----------|--------------
 *    0x00    | 32 samples
 *    0x01    | 64 samples
 *    0x02    | 128 samples
 *    0x03    | 256 samples
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_offset_word_length(u8 v_channel_u8, u8 *v_offset_word_length_u8);

/*!
 *  @brief This API is used to set
 *  Fast Offset WordLength and Auto Offset WordLength in the register 0x32
 *  @note fast_offset_wordlength -> bit 4 and 5
 *  @note auto_offset_wordlength -> bit 6 and 7
 *
 *
 *  @param v_channel_u8: The value of WordLengthchannel number
 *  v_channel_u8          |    value
 *  ----------------------|--------------
 *  BMG160_AUTO_OFFSET_WL |   0
 *  BMG160_FAST_OFFSET_WL |   1
 *
 *  @param  v_offset_word_length_u8: The value of offset word length
 *   value    |  word length
 *  ----------|--------------
 *    0x00    | 32 samples
 *    0x01    | 64 samples
 *    0x02    | 128 samples
 *    0x03    | 256 samples
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_offset_word_length(u8 v_channel_u8, u8 v_offset_word_length_u8);

/***********************************************/
/**\name    OFFSET CONFIGURATION  */
/**********************************************/

/*!
 *  @brief This API is used to enable fast offset
 *  in the register 0x32 bit 3 it is a write only register
 *
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_enable_fast_offset(void);

/*!
 *  @brief This API read the Fast offset enable
 *  v_axis_u8(X,Y and Z) in the register 0x32
 *  @note X_AXIS -> bit 0
 *  @note Y_AXIS -> bit 1
 *  @note Z_AXIS -> bit 2
 *
 *
 *
 *  @param v_fast_offset_u8: The value of fast offset enable
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_fast_offset_enable_axis(u8 *v_fast_offset_u8);

/*!
 *  @brief This API set the Fast offset enable
 *  v_axis_u8(X,Y and Z) in the register 0x32
 *  @note X_AXIS -> bit 0
 *  @note Y_AXIS -> bit 1
 *  @note Z_AXIS -> bit 2
 *
 *
 *  @param v_channel_u8: The value of fast offset channel select
 *  v_channel_u8    |    value
 *  ----------------|--------------
 *  BMG160_X_AXIS   |   0
 *  BMG160_Y_AXIS   |   1
 *  BMG160_Z_AXIS   |   2
 *
 *  @param v_fast_offset_u8: The value of fast offset enable
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_fast_offset_enable_axis(u8 v_channel_u8, u8 v_fast_offset_u8);

/***********************************************/
/**\name    NVM CONFIGURATION  */
/**********************************************/

/*!
 *  @brief This API is used to get the status of nvm program
 *  remain in the register 0x33 bit from 4 to 7
 *
 *
 *  @param v_nvm_remain_u8: The value of nvm program
 *   value    |  Description
 * -----------|---------------
 *    1       |  Do not trigger
 *    0       |  Trigger
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_nvm_remain(u8 *v_nvm_remain_u8);

/*!
 *  @brief This API is used to set the status of nvm program
 *  remain in the register 0x33 bit from 4 to 7
 *
 *
 *  @param v_nvm_load_u8: The value of nvm program
 *   value    |  Description
 * -----------|---------------
 *    1       |  Do not trigger
 *    0       |  Trigger
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_nvm_load(u8 v_nvm_load_u8);

/*!
 *  @brief This API is used to get the status of nvm
 *  program in the register 0x33 bit 2
 *
 *  @param v_nvm_rdy_u8: The value of nvm program
 *   value    |  Description
 * -----------|---------------
 *    1       |  NVM write is in progress
 *    0       |  NVM is ready to accept a new write
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_nvm_rdy(u8 *v_nvm_rdy_u8);

/*!
 *  @brief This API is used to set the status of nvm
 *  ready in the register 0x33 bit 1
 *
 *  @param nvm_prog_trig: The value of nvm program
 *   value    |  Description
 * -----------|---------------
 *    1       |  program seq in progress
 *    0       |  program seq finished
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_nvm_prog_trig(u8 nvm_prog_trig);

/*!
 *  @brief This API is used to get
 *  the status of nvm program mode in the register 0x33 bit 0
 *
 *
 *  @param nvm_prog_mode: The value of nvm program mode
 *   value    |  Description
 * -----------|---------------
 *    1       |  Unlock
 *    0       |  Lock nvm write
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_nvm_prog_mode(u8 *nvm_prog_mode);

/*!
 *  @brief This API is used to set
 *  the status of nvm program mode in the register 0x33 bit 0
 *
 *
 *  @param nvm_prog_mode: The value of nvm program mode
 *   value    |  Description
 * -----------|---------------
 *    1       |  Unlock
 *    0       |  Lock nvm write
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_nvm_prog_mode(u8 nvm_prog_mode);

/***********************************************/
/**\name    I2C CONFIGURATION  */
/**********************************************/

/*!
 *  @brief This API is used to get
 *  the status of i2c wdt select and enable in the register 0x34
 *  @note i2c_wdt_select -> bit 1
 *  @note i2c_wdt_enable -> bit 2
 *
 *  @param v_channel_u8: The value of i2c wdt channel number
 *  v_channel_u8            |    value
 *  ------------------------|--------------
 *  BMG160_I2C_WDT_ENABLE   |   1
 *  BMG160_I2C_WDT_SELECT   |   0
 *
 *  @param v_i2c_wdt_u8: The value of I2C enable and WDT select
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_i2c_wdt(u8 v_channel_u8, u8 *v_i2c_wdt_u8);

/*!
 *  @brief This API is used to set
 *  the status of i2c wdt select and enable in the register 0x34
 *  @note i2c_wdt_select -> bit 1
 *  @note i2c_wdt_enable -> bit 2
 *
 *  @param v_channel_u8: The value of i2c wdt channel number
 *  v_channel_u8            |    value
 *  ------------------------|--------------
 *  BMG160_I2C_WDT_ENABLE   |   1
 *  BMG160_I2C_WDT_SELECT   |   0
 *
 *  @param v_i2c_wdt_u8: The value of I2C enable and WDT select
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_i2c_wdt(u8 v_channel_u8, u8 v_i2c_wdt_u8);

/***********************************************/
/**\name    SPI CONFIGURATION  */
/**********************************************/

/*!
 *  @brief  This API is used to get the status of spi3
 *  in the register 0x34 bit 0
 *
 *
 *
 *  @param  v_spi3_u8 : The value of spi3 enable
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_spi3(u8 *v_spi3_u8);

/*!
 *  @brief  This API is used to set the status of spi3
 *  in the register 0x34 bit 0
 *
 *
 *
 *  @param  v_spi3_u8 : The value of spi3 enable
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_spi3(u8 v_spi3_u8);

/***********************************************/
/**\name    FIFO CONFIGURATION  */
/**********************************************/

/*!
 *  @brief  This API is used to get the status of FIFO tag
 *  in the register 0x3D bit 7
 *
 *
 *
 *  @param  v_fifo_tag_u8 : The value of fifo tag enable
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_fifo_tag(u8 *v_fifo_tag_u8);

/*!
 *  @brief  This API is used to set the status of FIFO tag
 *  in the register 0x3D bit 7
 *
 *
 *
 *  @param  v_fifo_tag_u8 : The value of fifo tag enable
 *   value    |  Description
 * -----------|---------------
 *    1       |  BMG160_ENABLE
 *    0       |  BMG160_DISABLE
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_fifo_tag(u8 v_fifo_tag_u8);

/*!
 *  @brief This API is used to get Water Mark Level
 *  in the register 0x3D bit from 0 to 6
 *
 *
 *
 *  @param v_fifo_wm_level_u8 : The value of fifo water mark level
 *
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_fifo_wm_level(u8 *v_fifo_wm_level_u8);

/*!
 *  @brief This API is used to set Water Mark Level
 *  in the register 0x3D bit from 0 to 6
 *
 *
 *
 *  @param v_fifo_wm_level_u8 : The value of fifo water mark level
 *
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_fifo_wm_level(u8 v_fifo_wm_level_u8);

/***********************************************/
/**\name    OFFSET FUNCTIONS */
/**********************************************/

/*!
 *  @brief This API is used to get the value of offset
 *  X, Y and Z in the registers 0x36, 0x37, 0x38, 0x39 and 0x3A
 *  the offset is a 12bit value
 *  @note X_AXIS ->
 *      @note bit 0 and 1 is available in the register 0x3A bit 2 and 3
 *      @note bit 2 and 3 is available in the register 0x36 bit 6 and 7
 *      @note bit 4 to 11 is available in the register 0x37 bit 0 to 7
 *  @note Y_AXIS ->
 *      @note bit 0 is available in the register 0x3A bit 1
 *      @note bit 1,2 and 3 is available in the register 0x36 bit 3,4 and 5
 *      @note bit 4 to 11 is available in the register 0x38 bit 0 to 7
 *  @note Z_AXIS ->
 *      @note bit 0 is available in the register 0x3A bit 0
 *      @note bit 1,2 and 3 is available in the register 0x36 bit 0,1 and 3
 *      @note bit 4 to 11 is available in the register 0x39 bit 0 to 7
 *
 *  @param  v_axis_u8 : The value of offset axis selection
 *  v_axis_u8       |    value
 *  ----------------|--------------
 *  BMG160_X_AXIS   |   1
 *  BMG160_Y_AXIS   |   0
 *  BMG160_Z_AXIS   |   0
 *
 *  @param v_offset_s16: The value of offset
 *
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_offset(u8 v_axis_u8, s16 *v_offset_s16);

/*!
 *  @brief This API is used to set the value of offset
 *  X, Y and Z in the registers 0x36, 0x37, 0x38, 0x39 and 0x3A
 *  the offset is a 12bit value
 *  @note X_AXIS ->
 *      @note bit 0 and 1 is available in the register 0x3A bit 2 and 3
 *      @note bit 2 and 3 is available in the register 0x36 bit 6 and 7
 *      @note bit 4 to 11 is available in the register 0x37 bit 0 to 7
 *  @note Y_AXIS ->
 *      @note bit 0 is available in the register 0x3A bit 1
 *      @note bit 1,2 and 3 is available in the register 0x36 bit 3,4 and 5
 *      @note bit 4 to 11 is available in the register 0x38 bit 0 to 7
 *  @note Z_AXIS ->
 *      @note bit 0 is available in the register 0x3A bit 0
 *      @note bit 1,2 and 3 is available in the register 0x36 bit 0,1 and 3
 *      @note bit 4 to 11 is available in the register 0x39 bit 0 to 7
 *
 *  @param  v_axis_u8 : The value of offset axis selection
 *  v_axis_u8       |    value
 *  ----------------|--------------
 *  BMG160_X_AXIS   |   1
 *  BMG160_Y_AXIS   |   0
 *  BMG160_Z_AXIS   |   0
 *
 *  @param v_offset_s16: The value of offset
 *
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_offset(u8 v_axis_u8, s16 v_offset_s16);

/*!
 *  @brief This API is used to get the status of general
 *  purpose register in the register 0x3A and 0x3B
 *
 *
 *
 *
 *  @param v_param_u8: The value of general purpose register select
 *  v_param_u8      |    value
 *  ----------------|--------------
 *  BMG160_GP0      |  0
 *  BMG160_GP1      |  1
 *
 *  @param v_gp_u8: The value of general purpose register
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_gp(u8 v_param_u8, u8 *v_gp_u8);

/*!
 *  @brief This API is used to set the status of general
 *  purpose register in the register 0x3A and 0x3B
 *
 *
 *
 *
 *  @param v_param_u8: The value of general purpose register select
 *  v_param_u8      |    value
 *  ----------------|--------------
 *  BMG160_GP0      |  0
 *  BMG160_GP1      |  1
 *
 *  @param v_gp_u8: The value of general purpose register
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_gp(u8 v_param_u8, u8 v_gp_u8);

/***********************************************/
/**\name    FIFO READ AND CONFIGURATION  */
/**********************************************/

/*!
 *  @brief This API reads the FIFO data from the register 0x3F
 *  and store the data in the user defined buffer mapped to the member
 *  of structure "fifo_configuration"
 *
 *  @note Before calling this API user must map the following FIFO settings
 *  required to read the FIFO data to the structure "fifo_configuration"
 *    - Data buffer to store the FIFO data is mapped to
 *      the structure member "fifo_data"
 *    - Number of bytes to be read from FIFO is mapped to
 *      the structure member "fifo_length"
 *
 *  @param[in,out] fifo_conf : Structure containing the FIFO configurations
 *  is passed as input and FIFO data of specified length is obtained as output
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error result of communication routines
 *  @retval -127 -> Null Pointer Error
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_read_fifo_data(struct fifo_configuration *fifo_conf);

/*!
 *  @brief this api is used to read the fifo status
 *  of frame_counter and overrun in the register 0x0E
 *  @note frame_counter > bit from 0 to 6
 *  @note overrun -> bit 7
 *
 *
 *
 *  @param v_fifo_stat_u8 : The value of fifo overrun and fifo counter
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_fifo_stat_reg(u8 *v_fifo_stat_u8);

/*!
 *  @brief this API is used to get the fifo frame counter
 *  in the register 0x0E bit 0 to 6
 *
 *
 *
 *  @param v_fifo_frame_count_u8: The value of fifo frame counter
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_fifo_frame_count(u8 *v_fifo_frame_count_u8);

/*!
 *  @brief this API is used to get the fifo over run
 *  in the register 0x0E bit 7
 *
 *
 *
 *  @param v_fifo_overrun_u8: The value of fifo over run
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_fifo_overrun(u8 *v_fifo_overrun_u8);

/*!
 *  @brief This API is used to get the status of fifo mode
 *  in the register 0x3E bit 6 and 7
 *
 *
 *
 *  @param v_fifo_mode_u8 : The value of fifo mode
 *        mode      |    value
 *  ----------------|--------------
 *      BYPASS      |  0
 *      FIFO        |  1
 *      STREAM      |  2
 *      RESERVED    |  3
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_fifo_mode(u8 *v_fifo_mode_u8);

/*!
 *  @brief This API is used to set the status of fifo mode
 *  in the register 0x3E bit 6 and 7
 *
 *
 *
 *  @param v_fifo_mode_u8 : The value of fifo mode
 *        mode      |    value
 *  ----------------|--------------
 *      BYPASS      |  0
 *      FIFO        |  1
 *      STREAM      |  2
 *      RESERVED    |  3
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_fifo_mode(u8 v_fifo_mode_u8);

/*!
 *  @brief This API is used to get the status of fifo
 *  data select in the register 0x3E bit 0 and 1
 *
 *
 *  @param v_fifo_data_select_u8 : The value of fifo data selection
 *      data selection         |    value
 *  ---------------------------|--------------
 *      X,Y and Z (DEFAULT)    |  0
 *      X only                 |  1
 *      Y only                 |  2
 *      Z only                 |  3
 *
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_fifo_data_select(u8 *v_fifo_data_select_u8);

/*!
 *  @brief This API is used to set the status of fifo
 *  data select in the register 0x3E bit 0 and 1
 *
 *
 *  @param v_fifo_data_select_u8 : The value of fifo data selection
 *      data selection         |    value
 *  ---------------------------|--------------
 *      X,Y and Z (DEFAULT)    |  0
 *      X only                 |  1
 *      Y only                 |  2
 *      Z only                 |  3
 *
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_fifo_data_select(u8 v_fifo_data_select_u8);

/***********************************************/
/**\name    POWER MODE CONFIGURATION  */
/**********************************************/

/*!
 *  @brief This API is used to get the operating modes of the
 *  sensor in the registers 0x11 and 0x12
 *
 *
 *
 *  @param  v_power_mode_u8 :The value of power mode
 *  value     |   power mode
 * -----------|----------------
 *     0      | BMG160_MODE_NORMAL
 *     1      | BMG160_MODE_SUSPEND
 *     2      | BMG160_MODE_DEEPSUSPEND
 *     3      | BMG160_MODE_FASTPOWERUP
 *     4      | BMG160_MODE_ADVANCEDPOWERSAVING
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_power_mode(u8 *v_power_mode_u8);

/*!
 *  @brief This API is used to set the operating modes of the
 *  sensor in the registers 0x11 and 0x12
 *
 *
 *
 *  @param  v_power_mode_u8 :The value of power mode
 *  value     |   power mode
 * -----------|----------------
 *     0      | BMG160_MODE_NORMAL
 *     1      | BMG160_MODE_SUSPEND
 *     2      | BMG160_MODE_DEEPSUSPEND
 *     3      | BMG160_MODE_FASTPOWERUP
 *     4      | BMG160_MODE_ADVANCEDPOWERSAVING
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_power_mode(u8 v_power_mode_u8);

/***********************************************/
/**\name    SELF TEST CONFIGURATION  */
/**********************************************/

/*!
 *  @brief This API is used to to do selftest to sensor
 *  sensor in the register 0x3C
 *
 *
 *
 *
 *  @param v_result_u8: The value of self test
 *
 *
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_selftest(u8 *v_result_u8);

/***********************************************/
/**\name    SLEEP AND AUTO SLEEP CONFIGURATION  */
/**********************************************/

/*!
 *  @brief  This API is used to get the auto sleep duration
 *  in the register 0x12 bit 0 to 2
 *
 *
 *
 *  @param v_durn_u8 : The value of gyro auto sleep duration
 *           sleep duration     |   value
 *  ----------------------------|----------
 *               not allowed    |   0
 *               4ms            |   1
 *               5ms            |   2
 *               8ms            |   3
 *               10ms           |   4
 *               15ms           |   5
 *               20ms           |   6
 *               40ms           |   7
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_auto_sleep_durn(u8 *v_durn_u8);

/*!
 *  @brief  This API is used to set the auto sleep duration
 *  in the register 0x12 bit 0 to 2
 *
 *
 *
 *  @param v_durn_u8 : The value of gyro auto sleep duration
 *           sleep duration     |   value
 *  ----------------------------|----------
 *               not allowed    |   0
 *               4ms            |   1
 *               5ms            |   2
 *               8ms            |   3
 *               10ms           |   4
 *               15ms           |   5
 *               20ms           |   6
 *               40ms           |   7
 *
 *  @param v_bw_u8 : The value of selected bandwidth
 *        v_bw_u8               |   value
 *  ----------------------------|----------
 *  C_BMG160_NO_FILTER_U8X      |   0
 *  C_BMG160_BW_230HZ_U8X       |   1
 *  C_BMG160_BW_116HZ_u8X       |   2
 *  C_BMG160_BW_47HZ_u8X        |   3
 *  C_BMG160_BW_23HZ_u8X        |   4
 *  C_BMG160_BW_12HZ_u8X        |   5
 *  C_BMG160_BW_64HZ_u8X        |   6
 *  C_BMG160_BW_32HZ_u8X        |   7
 *
 *  @note: sleep duration depends on selected power mode and bandwidth
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_auto_sleep_durn(u8 v_durn_u8, u8 v_bw_u8);

/*!
 *  @brief  This API is used to get the sleep duration
 *  in the register 0x11 bit 1 to 3
 *
 *
 *
 *  @param v_durn_u8 : The value of sleep duration
 *           sleep duration     |   value
 *  ----------------------------|----------
 *               2ms            |   0
 *               4ms            |   1
 *               5ms            |   2
 *               8ms            |   3
 *               10ms           |   4
 *               15ms           |   5
 *               18ms           |   6
 *               20ms           |   7
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_get_sleep_durn(u8 *v_durn_u8);

/*!
 *  @brief  This API is used to set the sleep duration
 *  in the register 0x11 bit 1 to 3
 *
 *
 *
 *  @param v_durn_u8 : The value of sleep duration
 *           sleep duration     |   value
 *  ----------------------------|----------
 *               2ms            |   0
 *               4ms            |   1
 *               5ms            |   2
 *               8ms            |   3
 *               10ms           |   4
 *               15ms           |   5
 *               18ms           |   6
 *               20ms           |   7
 *
 *
 *  @return results of bus communication function
 *  @retval 0 -> Success
 *  @retval -1 -> Error
 *
 *
 */
BMG160_RETURN_FUNCTION_TYPE bmg160_set_sleep_durn(u8 v_durn_u8);

#endif