* drivers/sensors/bmi160_base.c
*
* SPDX-License-Identifier: Apache-2.0
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
* Included Files
****************************************************************************/
#include "bmi160_base.h"
#if defined(CONFIG_SENSORS_BMI160)
* Pre-processor Definitions
****************************************************************************/
* Private Types
****************************************************************************/
* Private Functions
****************************************************************************/
* Name: bmi160_configspi
*
* Description:
*
****************************************************************************/
#ifdef CONFIG_SENSORS_BMI160_SPI
static void bmi160_configspi(FAR struct spi_dev_s *spi)
{
SPI_SETMODE(spi, SPIDEV_MODE0);
SPI_SETBITS(spi, 8);
SPI_HWFEATURES(spi, 0);
SPI_SETFREQUENCY(spi, BMI160_SPI_MAXFREQUENCY);
}
#endif
static void bmi160_transferspi(FAR struct spi_dev_s *spi, bool write,
uint8_t regaddr, FAR void *data, int len)
{
uint8_t addr = 0;
uint8_t tmp[128];
if (len > 127)
{
snerr("SPI_TRANSFER failed: len %d is too large\n", len);
len = 127;
}
SPI_LOCK(spi, true);
bmi160_configspi(spi);
SPI_SELECT(spi, SPIDEV_ACCELEROMETER(0), true);
if (write)
{
tmp[0] = regaddr;
#ifdef CONFIG_SPI_EXCHANGE
memcpy(tmp + 1, data, len);
SPI_EXCHANGE(spi, tmp, 0, len + 1);
#else
SPI_SEND(spi, regaddr);
SPI_SNDBLOCK(spi, data, len);
#endif
}
else
{
addr = regaddr | 0x80;
#ifdef CONFIG_SPI_EXCHANGE
SPI_EXCHANGE(spi, &addr, tmp, len + 1);
memcpy(data, tmp + 1, len);
#else
SPI_SEND(spi, addr);
SPI_RECVBLOCK(spi, data, len);
#endif
}
SPI_SELECT(spi, SPIDEV_ACCELEROMETER(0), false);
SPI_LOCK(spi, false);
}
* Private Data
****************************************************************************/
* Public Functions
****************************************************************************/
* Name: bmi160_getreg8
*
* Description:
* Read from an 8-bit BMI160 register
*
****************************************************************************/
uint8_t bmi160_getreg8(FAR struct bmi160_dev_s *priv, uint8_t regaddr)
{
uint8_t regval = 0;
#ifdef CONFIG_SENSORS_BMI160_I2C
struct i2c_msg_s msg[2];
int ret;
msg[0].frequency = priv->freq;
msg[0].addr = priv->addr;
msg[0].flags = I2C_M_NOSTOP;
msg[0].buffer = ®addr;
msg[0].length = 1;
msg[1].frequency = priv->freq;
msg[1].addr = priv->addr;
msg[1].flags = I2C_M_READ;
msg[1].buffer = ®val;
msg[1].length = 1;
ret = I2C_TRANSFER(priv->i2c, msg, 2);
if (ret < 0)
{
snerr("I2C_TRANSFER failed: %d\n", ret);
}
#else
bmi160_transferspi(priv->spi, false, regaddr, ®val, sizeof(uint8_t));
#endif
return regval;
}
* Name: bmi160_putreg8
*
* Description:
* Write a value to an 8-bit BMI160 register
*
****************************************************************************/
void bmi160_putreg8(FAR struct bmi160_dev_s *priv, uint8_t regaddr,
uint8_t regval)
{
#ifdef CONFIG_SENSORS_BMI160_I2C
struct i2c_msg_s msg[2];
int ret;
uint8_t txbuffer[2];
txbuffer[0] = regaddr;
txbuffer[1] = regval;
msg[0].frequency = priv->freq;
msg[0].addr = priv->addr;
msg[0].flags = 0;
msg[0].buffer = txbuffer;
msg[0].length = 2;
ret = I2C_TRANSFER(priv->i2c, msg, 1);
if (ret < 0)
{
snerr("I2C_TRANSFER failed: %d\n", ret);
}
#else
bmi160_transferspi(priv->spi, true, regaddr, ®val, sizeof(uint8_t));
#endif
}
* Name: bmi160_getreg16
*
* Description:
* Read 16-bits of data from an BMI160 register
*
****************************************************************************/
uint16_t bmi160_getreg16(FAR struct bmi160_dev_s *priv, uint8_t regaddr)
{
uint16_t regval = 0;
#ifdef CONFIG_SENSORS_BMI160_I2C
struct i2c_msg_s msg[2];
int ret;
msg[0].frequency = priv->freq;
msg[0].addr = priv->addr;
msg[0].flags = I2C_M_NOSTOP;
msg[0].buffer = ®addr;
msg[0].length = 1;
msg[1].frequency = priv->freq;
msg[1].addr = priv->addr;
msg[1].flags = I2C_M_READ;
msg[1].buffer = (FAR uint8_t *)®val;
msg[1].length = 2;
ret = I2C_TRANSFER(priv->i2c, msg, 2);
if (ret < 0)
{
snerr("I2C_TRANSFER failed: %d\n", ret);
}
#else
bmi160_transferspi(priv->spi, false, regaddr, ®val,
sizeof(uint16_t));
#endif
return regval;
}
* Name: bmi160_getregs
*
* Description:
* Read cnt bytes from specified dev_addr and reg_addr
*
****************************************************************************/
void bmi160_getregs(FAR struct bmi160_dev_s *priv, uint8_t regaddr,
uint8_t *regval, int len)
{
#ifdef CONFIG_SENSORS_BMI160_I2C
struct i2c_msg_s msg[2];
int ret;
msg[0].frequency = priv->freq;
msg[0].addr = priv->addr;
msg[0].flags = I2C_M_NOSTOP;
msg[0].buffer = ®addr;
msg[0].length = 1;
msg[1].frequency = priv->freq;
msg[1].addr = priv->addr;
msg[1].flags = I2C_M_READ;
msg[1].buffer = regval;
msg[1].length = len;
ret = I2C_TRANSFER(priv->i2c, msg, 2);
if (ret < 0)
{
snerr("I2C_TRANSFER failed: %d\n", ret);
}
#else
bmi160_transferspi(priv->spi, false, regaddr, regval, len);
#endif
}
* Name: bmi160_checkid
*
* Description:
* Read and verify the BMI160 chip ID
*
****************************************************************************/
int bmi160_checkid(FAR struct bmi160_dev_s *priv)
{
uint8_t devid = 0;
devid = bmi160_getreg8(priv, BMI160_CHIP_ID);
sninfo("devid: %04x\n", devid);
if (devid != (uint16_t) DEVID)
{
return -ENODEV;
}
return OK;
}
#endif