/**************************************************************************** * drivers/sensors/bmi160_base.c * * 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) { /* Configure SPI for the BMI160 */ SPI_SETMODE(spi, SPIDEV_MODE0); SPI_SETBITS(spi, 8); SPI_HWFEATURES(spi, 0); SPI_SETFREQUENCY(spi, BMI160_SPI_MAXFREQUENCY); } #endif /**************************************************************************** * 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 /* CONFIG_SENSORS_BMI160_SPI */ /* If SPI bus is shared then lock and configure it */ SPI_LOCK(priv->spi, true); bmi160_configspi(priv->spi); /* Select the BMI160 */ SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), true); /* Send register to read and get the next byte */ SPI_SEND(priv->spi, regaddr | 0x80); SPI_RECVBLOCK(priv->spi, ®val, 1); /* Deselect the BMI160 */ SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), false); /* Unlock bus */ SPI_LOCK(priv->spi, false); #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 /* CONFIG_SENSORS_BMI160_SPI */ /* If SPI bus is shared then lock and configure it */ SPI_LOCK(priv->spi, true); bmi160_configspi(priv->spi); /* Select the BMI160 */ SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), true); /* Send register address and set the value */ SPI_SEND(priv->spi, regaddr); SPI_SEND(priv->spi, regval); /* Deselect the BMI160 */ SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), false); /* Unlock bus */ SPI_LOCK(priv->spi, false); #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 = (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 /* CONFIG_SENSORS_BMI160_SPI */ /* If SPI bus is shared then lock and configure it */ SPI_LOCK(priv->spi, true); bmi160_configspi(priv->spi); /* Select the BMI160 */ SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), true); /* Send register to read and get the next 2 bytes */ SPI_SEND(priv->spi, regaddr | 0x80); SPI_RECVBLOCK(priv->spi, ®val, 2); /* Deselect the BMI160 */ SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), false); /* Unlock bus */ SPI_LOCK(priv->spi, false); #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 /* CONFIG_SENSORS_BMI160_SPI */ /* If SPI bus is shared then lock and configure it */ SPI_LOCK(priv->spi, true); bmi160_configspi(priv->spi); /* Select the BMI160 */ SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), true); /* Send register to read and get the next 2 bytes */ SPI_SEND(priv->spi, regaddr | 0x80); SPI_RECVBLOCK(priv->spi, regval, len); /* Deselect the BMI160 */ SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), false); /* Unlock bus */ SPI_LOCK(priv->spi, false); #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; /* Read device ID */ devid = bmi160_getreg8(priv, BMI160_CHIP_ID); sninfo("devid: %04x\n", devid); if (devid != (uint16_t) DEVID) { /* ID is not Correct */ return -ENODEV; } return OK; } #endif /* CONFIG_SENSORS_BMI160 */