d68476796a
fix various coding style issues for drivers/sensors: - remove redundant `#define CONFIG_XXX` that should be provided from Kconfig - correct section banners - remove empty section banners - fix some function banners Signed-off-by: raiden00pl <raiden00@railab.me>
414 lines
10 KiB
C
414 lines
10 KiB
C
/****************************************************************************
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* drivers/sensors/bmi088_base.c
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*
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* SPDX-License-Identifier: Apache-2.0
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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 "bmi088_base.h"
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#if defined(CONFIG_SENSORS_BMI088)
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Name: bmi088_configspi
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*
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* Description:
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*
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****************************************************************************/
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#ifdef CONFIG_SENSORS_BMI088_SPI
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static void bmi088_configspi(FAR struct spi_dev_s *spi)
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{
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/* Configure SPI for the BMI088 */
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SPI_SETMODE(spi, SPIDEV_MODE0);
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SPI_SETBITS(spi, 8);
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SPI_HWFEATURES(spi, 0);
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SPI_SETFREQUENCY(spi, BMI088_SPI_MAXFREQUENCY);
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}
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#endif
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: bmi088_get_acc_reg8
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*
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* Description:
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* Read from an 8-bit BMI088 ACC register
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*
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****************************************************************************/
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uint8_t bmi088_get_acc_reg8(FAR struct bmi088_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_BMI088_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_BMI088_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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bmi088_configspi(priv->spi);
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/* Select the BMI088 */
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SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(BMI088_SPI_DEV_ACC), 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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SPI_RECVBLOCK(priv->spi, ®val, 1);
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/* Deselect the BMI088 */
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SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(BMI088_SPI_DEV_ACC), 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: bmi088_get_gyro_reg8
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*
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* Description:
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* Read from an 8-bit BMI088 GYRO register
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*
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****************************************************************************/
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uint8_t bmi088_get_gyro_reg8(FAR struct bmi088_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_BMI088_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_BMI088_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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bmi088_configspi(priv->spi);
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/* Select the BMI088 */
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SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(BMI088_SPI_DEV_GYRO), 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 BMI088 */
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SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(BMI088_SPI_DEV_GYRO), 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: bmi088_put_acc_reg8
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*
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* Description:
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* Write a value to an 8-bit BMI088 ACC register
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*
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****************************************************************************/
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void bmi088_put_acc_reg8(FAR struct bmi088_dev_s *priv, uint8_t regaddr,
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uint8_t regval)
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{
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#ifdef CONFIG_SENSORS_BMI088_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_BMI088_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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bmi088_configspi(priv->spi);
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/* Select the BMI088 */
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SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(BMI088_SPI_DEV_ACC), 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 BMI088 */
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SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(BMI088_SPI_DEV_ACC), 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: bmi088_put_gyro_reg8
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*
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* Description:
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* Write a value to an 8-bit BMI088 GYRO register
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*
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****************************************************************************/
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void bmi088_put_gyro_reg8(FAR struct bmi088_dev_s *priv, uint8_t regaddr,
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uint8_t regval)
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{
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#ifdef CONFIG_SENSORS_BMI088_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_BMI088_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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bmi088_configspi(priv->spi);
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/* Select the BMI088 */
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SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(BMI088_SPI_DEV_GYRO), 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 BMI088 */
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SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(BMI088_SPI_DEV_GYRO), 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: bmi088_get_acc_regs
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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 bmi088_get_acc_regs(FAR struct bmi088_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_BMI088_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_BMI088_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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bmi088_configspi(priv->spi);
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/* Select the BMI088 */
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SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(BMI088_SPI_DEV_ACC), 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, 1);
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SPI_RECVBLOCK(priv->spi, regval, len);
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/* Deselect the BMI088 */
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SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(BMI088_SPI_DEV_ACC), 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: bmi088_get_gyro_regs
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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 bmi088_get_gyro_regs(FAR struct bmi088_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_BMI088_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_BMI088_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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bmi088_configspi(priv->spi);
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/* Select the BMI088 */
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SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(BMI088_SPI_DEV_GYRO), 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 BMI088 */
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SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(BMI088_SPI_DEV_GYRO), 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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#endif /* CONFIG_SENSORS_BMI088 */
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