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sensor/bmi160.c:provides work in character device mode and UORB communication mode.
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>
This commit is contained in:
likun17
Mateusz Szafoni
@@ -137,6 +137,7 @@ ifeq ($(CONFIG_SENSORS_BMG160),y)
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endif
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ifeq ($(CONFIG_SENSORS_BMI160),y)
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CSRCS += bmi160_base.c
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ifeq ($(CONFIG_SENSORS_BMI160_UORB),y)
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CSRCS += bmi160_uorb.c
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else
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+1
-266
@@ -22,7 +22,7 @@
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* Included Files
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****************************************************************************/
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#include "bmi160.h"
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#include "bmi160_base.h"
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#if defined(CONFIG_SENSORS_BMI160)
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@@ -229,271 +229,6 @@ static int bmi160_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
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* Public Functions
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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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/****************************************************************************
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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_register
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*
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@@ -0,0 +1,314 @@
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/****************************************************************************
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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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|
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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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|
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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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|
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SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), true);
|
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|
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/* Send register address and set the value */
|
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|
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SPI_SEND(priv->spi, regaddr);
|
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SPI_SEND(priv->spi, regval);
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|
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/* Deselect the BMI160 */
|
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|
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SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), false);
|
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|
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/* Unlock bus */
|
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|
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SPI_LOCK(priv->spi, false);
|
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|
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#endif
|
||||
}
|
||||
|
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/****************************************************************************
|
||||
* 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)
|
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{
|
||||
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;
|
||||
|
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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);
|
||||
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 */
|
||||
@@ -1,5 +1,5 @@
|
||||
/****************************************************************************
|
||||
* include/nuttx/sensors/bmi160.h
|
||||
* drivers/sensors/bmi160_base.h
|
||||
*
|
||||
* Licensed to the Apache Software Foundation (ASF) under one or more
|
||||
* contributor license agreements. See the NOTICE file distributed with
|
||||
@@ -27,18 +27,18 @@
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <fixedmath.h>
|
||||
#include <assert.h>
|
||||
#include <errno.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/kmalloc.h>
|
||||
#include <nuttx/fs/fs.h>
|
||||
#include <nuttx/kmalloc.h>
|
||||
#include <nuttx/spi/spi.h>
|
||||
#include <nuttx/i2c/i2c_master.h>
|
||||
#include <nuttx/sensors/bmi160.h>
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <assert.h>
|
||||
#include <errno.h>
|
||||
#include <debug.h>
|
||||
#include <fixedmath.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
@@ -211,11 +211,9 @@
|
||||
#define MAG_PM_LOWPOWER (0x1A)
|
||||
|
||||
/****************************************************************************
|
||||
* Private Types
|
||||
* Public Types
|
||||
****************************************************************************/
|
||||
|
||||
/* Device struct */
|
||||
|
||||
struct bmi160_dev_s
|
||||
{
|
||||
#ifdef CONFIG_SENSORS_BMI160_I2C
|
||||
@@ -230,7 +228,7 @@ struct bmi160_dev_s
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
* Public Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
uint8_t bmi160_getreg8(FAR struct bmi160_dev_s *priv, uint8_t regaddr);
|
||||
File diff suppressed because it is too large
Load Diff
@@ -134,9 +134,17 @@ extern "C"
|
||||
#ifndef CONFIG_SENSORS_BMI160_SCU
|
||||
|
||||
# ifdef CONFIG_SENSORS_BMI160_I2C
|
||||
# ifdef CONFIG_SENSORS_BMI160_UORB
|
||||
int bmi160_register_uorb(int devno, FAR struct i2c_master_s *dev);
|
||||
# else
|
||||
int bmi160_register(FAR const char *devpath, FAR struct i2c_master_s *dev);
|
||||
# endif /* CONFIG_SENSORS_BMI160_UORB */
|
||||
# else /* CONFIG_BMI160_SPI */
|
||||
# ifdef CONFIG_SENSORS_BMI160_UORB
|
||||
int bmi160_register_uorb(int devno, FAR struct spi_dev_s *dev);
|
||||
# else
|
||||
int bmi160_register(FAR const char *devpath, FAR struct spi_dev_s *dev);
|
||||
# endif /* CONFIG_SENSORS_BMI160_UORB */
|
||||
# endif
|
||||
|
||||
#else /* CONFIG_SENSORS_BMI160_SCU */
|
||||
|
||||
Reference in New Issue
Block a user