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driver/bmi160: bmi160 support exchange mode rw

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sim-spi support exchange mode

Signed-off-by: yezhonghui <yezhonghui@xiaomi.com>
This commit is contained in:
yezhonghui
2025-03-03 15:49:05 +08:00
committed by Donny(董九柱)
parent 96db23e7df
commit b64b63b748
1 changed files with 77 additions and 78 deletions
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drivers/sensors/bmi160_base.c
+77 -78
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@@ -51,6 +51,78 @@ static void bmi160_configspi(FAR struct spi_dev_s *spi)
}
#endif
/****************************************************************************
* Name: bmi160_transferspi
*
* Description:
* SPI transfer data
*
* spi: Handle to the initialized SPI device structure
* write: Flag indicating the transfer direction r/w
* regaddr: Address of the BMI160 sensor register to read/write
* data: Pointer to the data buffer for send/receive
* len: Length of the data to be transferred in bytes
*
****************************************************************************/
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;
}
/* If SPI bus is shared then lock and configure it */
SPI_LOCK(spi, true);
bmi160_configspi(spi);
/* Select the BMI160 */
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
/* Send register address and set the value */
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
/* Send register to read and get the next byte */
SPI_SEND(spi, addr);
SPI_RECVBLOCK(spi, data, len);
#endif
}
/* Deselect the BMI160 */
SPI_SELECT(spi, SPIDEV_ACCELEROMETER(0), false);
/* Unlock bus */
SPI_LOCK(spi, false);
}
/****************************************************************************
* Private Data
****************************************************************************/
@@ -94,27 +166,9 @@ uint8_t bmi160_getreg8(FAR struct bmi160_dev_s *priv, uint8_t regaddr)
}
#else /* CONFIG_SENSORS_BMI160_SPI */
/* If SPI bus is shared then lock and configure it */
SPI_LOCK(priv->spi, true);
bmi160_configspi(priv->spi);
bmi160_transferspi(priv->spi, false, regaddr, &regval, sizeof(uint8_t));
/* 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, &regval, 1);
/* Deselect the BMI160 */
SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), false);
/* Unlock bus */
SPI_LOCK(priv->spi, false);
#endif
return regval;
@@ -152,27 +206,8 @@ void bmi160_putreg8(FAR struct bmi160_dev_s *priv, uint8_t regaddr,
}
#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);
bmi160_transferspi(priv->spi, true, regaddr, &regval, sizeof(uint8_t));
#endif
}
@@ -212,27 +247,10 @@ uint16_t bmi160_getreg16(FAR struct bmi160_dev_s *priv, uint8_t regaddr)
}
#else /* CONFIG_SENSORS_BMI160_SPI */
/* If SPI bus is shared then lock and configure it */
SPI_LOCK(priv->spi, true);
bmi160_configspi(priv->spi);
bmi160_transferspi(priv->spi, false, regaddr, &regval,
sizeof(uint16_t));
/* 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, 2);
/* Deselect the BMI160 */
SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), false);
/* Unlock bus */
SPI_LOCK(priv->spi, false);
#endif
return regval;
@@ -272,27 +290,8 @@ void bmi160_getregs(FAR struct bmi160_dev_s *priv, uint8_t regaddr,
}
#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);
bmi160_transferspi(priv->spi, false, regaddr, regval, len);
#endif
}