ad643fe7a3
Create bmi160_base.h, bmi160_base.c bmi160_uorb.c files, the bmi160_base file stores public function interfaces, and the bmi160_uorb file stores functions related to the uorb framework. Switch the character interface and UORB interface through the macro CONFIG_SENSORS_BMI160_UORB. Signed-off-by: likun17 <likun17@xiaomi.com>
315 lines
8.0 KiB
C
315 lines
8.0 KiB
C
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* drivers/sensors/bmi160_base.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include "bmi160_base.h"
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#if defined(CONFIG_SENSORS_BMI160)
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/****************************************************************************
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* Private Types
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****************************************************************************/
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Private Data
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****************************************************************************/
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: bmi160_getreg8
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*
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* Description:
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* Read from an 8-bit BMI160 register
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*
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****************************************************************************/
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uint8_t bmi160_getreg8(FAR struct bmi160_dev_s *priv, uint8_t regaddr)
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{
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uint8_t regval = 0;
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#ifdef CONFIG_SENSORS_BMI160_I2C
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struct i2c_msg_s msg[2];
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int ret;
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msg[0].frequency = priv->freq;
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msg[0].addr = priv->addr;
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msg[0].flags = I2C_M_NOSTOP;
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msg[0].buffer = ®addr;
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msg[0].length = 1;
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msg[1].frequency = priv->freq;
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msg[1].addr = priv->addr;
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msg[1].flags = I2C_M_READ;
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msg[1].buffer = ®val;
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msg[1].length = 1;
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ret = I2C_TRANSFER(priv->i2c, msg, 2);
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if (ret < 0)
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{
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snerr("I2C_TRANSFER failed: %d\n", ret);
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}
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#else /* CONFIG_SENSORS_BMI160_SPI */
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/* If SPI bus is shared then lock and configure it */
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SPI_LOCK(priv->spi, true);
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bmi160_configspi(priv->spi);
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/* Select the BMI160 */
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SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), true);
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/* Send register to read and get the next byte */
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SPI_SEND(priv->spi, regaddr | 0x80);
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SPI_RECVBLOCK(priv->spi, ®val, 1);
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/* Deselect the BMI160 */
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SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), false);
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/* Unlock bus */
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SPI_LOCK(priv->spi, false);
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#endif
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return regval;
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}
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/****************************************************************************
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* Name: bmi160_putreg8
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*
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* Description:
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* Write a value to an 8-bit BMI160 register
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*
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****************************************************************************/
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void bmi160_putreg8(FAR struct bmi160_dev_s *priv, uint8_t regaddr,
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uint8_t regval)
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{
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#ifdef CONFIG_SENSORS_BMI160_I2C
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struct i2c_msg_s msg[2];
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int ret;
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uint8_t txbuffer[2];
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txbuffer[0] = regaddr;
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txbuffer[1] = regval;
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msg[0].frequency = priv->freq;
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msg[0].addr = priv->addr;
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msg[0].flags = 0;
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msg[0].buffer = txbuffer;
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msg[0].length = 2;
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ret = I2C_TRANSFER(priv->i2c, msg, 1);
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if (ret < 0)
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{
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snerr("I2C_TRANSFER failed: %d\n", ret);
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}
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#else /* CONFIG_SENSORS_BMI160_SPI */
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/* If SPI bus is shared then lock and configure it */
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SPI_LOCK(priv->spi, true);
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bmi160_configspi(priv->spi);
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/* Select the BMI160 */
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SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), true);
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/* Send register address and set the value */
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SPI_SEND(priv->spi, regaddr);
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SPI_SEND(priv->spi, regval);
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/* Deselect the BMI160 */
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SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), false);
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/* Unlock bus */
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SPI_LOCK(priv->spi, false);
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#endif
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}
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/****************************************************************************
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* Name: bmi160_getreg16
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*
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* Description:
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* Read 16-bits of data from an BMI160 register
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*
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****************************************************************************/
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uint16_t bmi160_getreg16(FAR struct bmi160_dev_s *priv, uint8_t regaddr)
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{
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uint16_t regval = 0;
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#ifdef CONFIG_SENSORS_BMI160_I2C
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struct i2c_msg_s msg[2];
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int ret;
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msg[0].frequency = priv->freq;
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msg[0].addr = priv->addr;
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msg[0].flags = I2C_M_NOSTOP;
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msg[0].buffer = ®addr;
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msg[0].length = 1;
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msg[1].frequency = priv->freq;
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msg[1].addr = priv->addr;
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msg[1].flags = I2C_M_READ;
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msg[1].buffer = (uint8_t *)®val;
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msg[1].length = 2;
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ret = I2C_TRANSFER(priv->i2c, msg, 2);
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if (ret < 0)
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{
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snerr("I2C_TRANSFER failed: %d\n", ret);
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}
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#else /* CONFIG_SENSORS_BMI160_SPI */
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/* If SPI bus is shared then lock and configure it */
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SPI_LOCK(priv->spi, true);
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bmi160_configspi(priv->spi);
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/* Select the BMI160 */
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SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), true);
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/* Send register to read and get the next 2 bytes */
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SPI_SEND(priv->spi, regaddr | 0x80);
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SPI_RECVBLOCK(priv->spi, ®val, 2);
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/* Deselect the BMI160 */
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SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), false);
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/* Unlock bus */
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SPI_LOCK(priv->spi, false);
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#endif
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return regval;
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}
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/****************************************************************************
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* Name: bmi160_getregs
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*
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* Description:
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* Read cnt bytes from specified dev_addr and reg_addr
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*
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****************************************************************************/
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void bmi160_getregs(FAR struct bmi160_dev_s *priv, uint8_t regaddr,
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uint8_t *regval, int len)
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{
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#ifdef CONFIG_SENSORS_BMI160_I2C
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struct i2c_msg_s msg[2];
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int ret;
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msg[0].frequency = priv->freq;
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msg[0].addr = priv->addr;
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msg[0].flags = I2C_M_NOSTOP;
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msg[0].buffer = ®addr;
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msg[0].length = 1;
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msg[1].frequency = priv->freq;
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msg[1].addr = priv->addr;
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msg[1].flags = I2C_M_READ;
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msg[1].buffer = regval;
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msg[1].length = len;
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ret = I2C_TRANSFER(priv->i2c, msg, 2);
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if (ret < 0)
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{
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snerr("I2C_TRANSFER failed: %d\n", ret);
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}
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#else /* CONFIG_SENSORS_BMI160_SPI */
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/* If SPI bus is shared then lock and configure it */
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SPI_LOCK(priv->spi, true);
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bmi160_configspi(priv->spi);
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/* Select the BMI160 */
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SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), true);
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/* Send register to read and get the next 2 bytes */
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SPI_SEND(priv->spi, regaddr | 0x80);
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SPI_RECVBLOCK(priv->spi, regval, len);
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/* Deselect the BMI160 */
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SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), false);
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/* Unlock bus */
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SPI_LOCK(priv->spi, false);
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#endif
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}
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/****************************************************************************
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* Name: bmi160_checkid
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*
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* Description:
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* Read and verify the BMI160 chip ID
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*
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****************************************************************************/
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int bmi160_checkid(FAR struct bmi160_dev_s *priv)
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{
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uint8_t devid = 0;
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/* Read device ID */
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devid = bmi160_getreg8(priv, BMI160_CHIP_ID);
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sninfo("devid: %04x\n", devid);
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if (devid != (uint16_t) DEVID)
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{
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/* ID is not Correct */
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return -ENODEV;
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}
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return OK;
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}
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#endif /* CONFIG_SENSORS_BMI160 */
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