bmg160: C port, FTI, C++ wraps C
Signed-off-by: Jon Trulson <jtrulson@ics.com>
This commit is contained in:
Jon Trulson
777
src/bmg160/bmg160.c
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777
src/bmg160/bmg160.c
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/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2017 Intel Corporation.
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*
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* The MIT License
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <unistd.h>
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#include <assert.h>
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#include "upm_utilities.h"
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#include "bmg160.h"
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// macro for converting a uint8_t low/high pair into a float
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#define INT16_TO_FLOAT(h, l) \
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(float)( (int16_t)( (l) | ((h) << 8) ) )
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// SPI CS on and off functions
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static void _csOn(const bmg160_context dev)
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{
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assert(dev != NULL);
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if (dev->gpioCS)
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mraa_gpio_write(dev->gpioCS, 0);
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}
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static void _csOff(const bmg160_context dev)
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{
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assert(dev != NULL);
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if (dev->gpioCS)
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mraa_gpio_write(dev->gpioCS, 1);
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}
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// init
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bmg160_context bmg160_init(int bus, int addr, int cs)
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{
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bmg160_context dev =
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(bmg160_context)malloc(sizeof(struct _bmg160_context));
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if (!dev)
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return NULL;
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// zero out context
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memset((void *)dev, 0, sizeof(struct _bmg160_context));
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// make sure MRAA is initialized
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if (mraa_init() != MRAA_SUCCESS)
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{
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printf("%s: mraa_init() failed.\n", __FUNCTION__);
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bmg160_close(dev);
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return NULL;
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}
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if (addr < 0)
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dev->isSPI = true;
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if (dev->isSPI)
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{
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if (!(dev->spi = mraa_spi_init(bus)))
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{
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printf("%s: mraa_spi_init() failed.\n", __FUNCTION__);
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bmg160_close(dev);
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return NULL;
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}
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// Only create cs context if we are actually using a valid pin.
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// A hardware controlled pin should specify cs as -1.
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if (cs >= 0)
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{
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if (!(dev->gpioCS = mraa_gpio_init(cs)))
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{
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printf("%s: mraa_gpio_init() failed.\n", __FUNCTION__);
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bmg160_close(dev);
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return NULL;
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}
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mraa_gpio_dir(dev->gpioCS, MRAA_GPIO_OUT);
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}
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mraa_spi_mode(dev->spi, MRAA_SPI_MODE0);
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if (mraa_spi_frequency(dev->spi, 5000000))
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{
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printf("%s: mraa_spi_frequency() failed.\n", __FUNCTION__);
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bmg160_close(dev);
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return NULL;
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}
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}
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else
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{
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// I2C
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if (!(dev->i2c = mraa_i2c_init(bus)))
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{
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printf("%s: mraa_i2c_init() failed.\n", __FUNCTION__);
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bmg160_close(dev);
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return NULL;
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}
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if (mraa_i2c_address(dev->i2c, addr))
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{
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printf("%s: mraa_i2c_address() failed.\n", __FUNCTION__);
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bmg160_close(dev);
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return NULL;
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}
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}
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// check the chip id
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uint8_t chipID = bmg160_get_chip_id(dev);
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if (chipID != BMG160_CHIPID)
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{
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printf("%s: invalid chip id: %02x. Expected %02x\n",
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__FUNCTION__, chipID, BMG160_CHIPID);
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bmg160_close(dev);
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return NULL;
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}
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// call devinit with default options
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if (bmg160_devinit(dev, BMG160_POWER_MODE_NORMAL, BMG160_RANGE_250,
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BMG160_BW_400_47))
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{
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printf("%s: bmg160_devinit() failed.\n", __FUNCTION__);
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bmg160_close(dev);
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return NULL;
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}
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return dev;
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}
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void bmg160_close(bmg160_context dev)
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{
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assert(dev != NULL);
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bmg160_uninstall_isr(dev, BMG160_INTERRUPT_INT1);
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bmg160_uninstall_isr(dev, BMG160_INTERRUPT_INT2);
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if (dev->i2c)
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mraa_i2c_stop(dev->i2c);
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if (dev->spi)
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mraa_spi_stop(dev->spi);
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if (dev->gpioCS)
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mraa_gpio_close(dev->gpioCS);
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free(dev);
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}
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upm_result_t bmg160_devinit(const bmg160_context dev,
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BMG160_POWER_MODE_T pwr,
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BMG160_RANGE_T range,
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BMG160_BW_T bw)
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{
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assert(dev != NULL);
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if (bmg160_set_power_mode(dev, pwr))
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{
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printf("%s: bmg160_set_power_mode() failed.\n", __FUNCTION__);
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return UPM_ERROR_OPERATION_FAILED;
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}
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upm_delay_ms(50); // 50ms, in case we are waking up
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// set our range and bandwidth, make sure register shadowing is
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// enabled, enable output filtering, and set our FIFO config
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if (bmg160_set_range(dev, range)
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|| bmg160_set_bandwidth(dev, bw)
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|| bmg160_enable_register_shadowing(dev, true)
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|| bmg160_enable_output_filtering(dev, true)
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|| bmg160_fifo_config(dev, BMG160_FIFO_MODE_BYPASS,
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BMG160_FIFO_DATA_SEL_XYZ))
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{
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printf("%s: failed to set configuration parameters.\n",
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__FUNCTION__);
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return UPM_ERROR_OPERATION_FAILED;
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}
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bmg160_enable_fifo(dev, true);
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// settle
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upm_delay_ms(50);
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return UPM_SUCCESS;
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}
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upm_result_t bmg160_update(const bmg160_context dev)
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{
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assert(dev != NULL);
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int bufLen = 7; // max, non-FIFO
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uint8_t startReg = BMG160_REG_RATE_X_LSB;
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if (dev->useFIFO)
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{
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bufLen = 6;
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startReg = BMG160_REG_FIFO_DATA;
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}
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uint8_t buf[bufLen];
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if (bmg160_read_regs(dev, startReg, buf, bufLen) != bufLen)
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{
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printf("%s: bmg160_read_regs() failed to read %d bytes\n",
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__FUNCTION__, bufLen);
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return UPM_ERROR_OPERATION_FAILED;
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}
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// x msb lsb
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dev->gyrX = INT16_TO_FLOAT(buf[1], buf[0]);
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// y
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dev->gyrY = INT16_TO_FLOAT(buf[3], buf[2]);
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// z
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dev->gyrZ = INT16_TO_FLOAT(buf[5], buf[4]);
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// get the temperature...
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int8_t temp = 0;
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if (dev->useFIFO)
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{
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// we have to read temperature separately...
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temp = (int8_t)bmg160_read_reg(dev, BMG160_REG_TEMP);
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}
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else
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{
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// we already got it
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temp = (int8_t)buf[6];
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}
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// .5K/LSB, 23C center point
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dev->temperature = ((float)temp / 2.0) + 23.0;
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return UPM_SUCCESS;
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}
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void bmg160_enable_fifo(const bmg160_context dev, bool useFIFO)
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{
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assert(dev != NULL);
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dev->useFIFO = useFIFO;
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}
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uint8_t bmg160_read_reg(const bmg160_context dev, uint8_t reg)
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{
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assert(dev != NULL);
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if (dev->isSPI)
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{
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reg |= 0x80; // needed for read
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uint8_t pkt[2] = {reg, 0};
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_csOn(dev);
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if (mraa_spi_transfer_buf(dev->spi, pkt, pkt, 2))
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{
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_csOff(dev);
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printf("%s: mraa_spi_transfer_buf() failed.\n", __FUNCTION__);
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return 0xff;
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}
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_csOff(dev);
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return pkt[1];
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}
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else
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return (uint8_t)mraa_i2c_read_byte_data(dev->i2c, reg);
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}
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int bmg160_read_regs(const bmg160_context dev, uint8_t reg,
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uint8_t *buffer, int len)
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{
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assert(dev != NULL);
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if (dev->isSPI)
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{
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reg |= 0x80; // needed for read
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uint8_t sbuf[len + 1];
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memset((char *)sbuf, 0, len + 1);
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sbuf[0] = reg;
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// We need to do it this way for edison - ie: use a single
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// transfer rather than breaking it up into two like we used to.
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// This means a buffer copy is now required, but that's the way
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// it goes.
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_csOn(dev);
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if (mraa_spi_transfer_buf(dev->spi, sbuf, sbuf, len + 1))
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{
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_csOff(dev);
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printf("%s: mraa_spi_transfer_buf() failed.\n", __FUNCTION__);
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return -1;
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}
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_csOff(dev);
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// now copy it into user buffer
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for (int i=0; i<len; i++)
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buffer[i] = sbuf[i + 1];
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}
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else
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{
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if (mraa_i2c_read_bytes_data(dev->i2c, reg, buffer, len) != len)
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return -1;
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}
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return len;
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}
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upm_result_t bmg160_write_reg(const bmg160_context dev,
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uint8_t reg, uint8_t val)
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{
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assert(dev != NULL);
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if (dev->isSPI)
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{
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reg &= 0x7f; // mask off 0x80 for writing
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uint8_t pkt[2] = {reg, val};
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_csOn(dev);
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if (mraa_spi_transfer_buf(dev->spi, pkt, NULL, 2))
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{
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_csOff(dev);
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printf("%s: mraa_spi_transfer_buf() failed.",
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__FUNCTION__);
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return UPM_ERROR_OPERATION_FAILED;
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}
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_csOff(dev);
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}
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else
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{
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if (mraa_i2c_write_byte_data(dev->i2c, val, reg))
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{
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printf("%s: mraa_i2c_write_byte_data() failed.",
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__FUNCTION__);
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return UPM_ERROR_OPERATION_FAILED;
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}
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}
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return UPM_SUCCESS;
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}
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uint8_t bmg160_get_chip_id(const bmg160_context dev)
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{
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assert(dev != NULL);
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return bmg160_read_reg(dev, BMG160_REG_CHIP_ID);
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}
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void bmg160_get_gyroscope(const bmg160_context dev,
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float *x, float *y, float *z)
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{
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assert(dev != NULL);
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if (x)
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*x = (dev->gyrX * dev->gyrScale) / 1000.0;
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if (y)
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*y = (dev->gyrY * dev->gyrScale) / 1000.0;
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if (z)
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*z = (dev->gyrZ * dev->gyrScale) / 1000.0;
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}
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float bmg160_get_temperature(const bmg160_context dev)
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{
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assert(dev != NULL);
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return dev->temperature;
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}
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upm_result_t bmg160_reset(const bmg160_context dev)
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{
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assert(dev != NULL);
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if (bmg160_write_reg(dev, BMG160_REG_SOFTRESET, BMG160_RESET_BYTE))
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return UPM_ERROR_OPERATION_FAILED;
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upm_delay(1);
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return UPM_SUCCESS;
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}
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upm_result_t bmg160_set_range(const bmg160_context dev,
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BMG160_RANGE_T range)
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{
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assert(dev != NULL);
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// we also have to write a fixed '0x10' to the high-order bits for
|
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// some reason (according to datasheet)
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uint8_t reg = range | (_BMG160_GYR_RANGE_FIXED_VALUE
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<< _BMG160_GYR_RANGE_FIXED_SHIFT);
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if (bmg160_write_reg(dev, BMG160_REG_GYR_RANGE, reg))
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return UPM_ERROR_OPERATION_FAILED;
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switch(range)
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{
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case BMG160_RANGE_125:
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dev->gyrScale = 3.8; // milli-degrees
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break;
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||||
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case BMG160_RANGE_250:
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dev->gyrScale = 7.6;
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break;
|
||||
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case BMG160_RANGE_500:
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dev->gyrScale = 15.3;
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break;
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case BMG160_RANGE_1000:
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dev->gyrScale = 30.5;
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break;
|
||||
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||||
case BMG160_RANGE_2000:
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dev->gyrScale = 61.0;
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||||
break;
|
||||
}
|
||||
|
||||
return UPM_SUCCESS;
|
||||
}
|
||||
|
||||
upm_result_t bmg160_set_bandwidth(const bmg160_context dev,
|
||||
BMG160_BW_T bw)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
if (bmg160_write_reg(dev, BMG160_REG_GYR_BW, bw))
|
||||
return UPM_ERROR_OPERATION_FAILED;
|
||||
|
||||
return UPM_SUCCESS;
|
||||
}
|
||||
|
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upm_result_t bmg160_set_power_mode(const bmg160_context dev,
|
||||
BMG160_POWER_MODE_T power)
|
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{
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||||
assert(dev != NULL);
|
||||
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||||
// mask off reserved bits first
|
||||
uint8_t reg =
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bmg160_read_reg(dev, BMG160_REG_LPM1) & ~_BMG160_LPM1_RESERVED_BITS;
|
||||
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||||
reg &= ~(_BMG160_LPM1_POWER_MODE_MASK << _BMG160_LPM1_POWER_MODE_SHIFT);
|
||||
reg |= (power << _BMG160_LPM1_POWER_MODE_SHIFT);
|
||||
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||||
if (bmg160_write_reg(dev, BMG160_REG_LPM1, power))
|
||||
return UPM_ERROR_OPERATION_FAILED;
|
||||
|
||||
return UPM_SUCCESS;
|
||||
}
|
||||
|
||||
upm_result_t bmg160_fifo_set_watermark(const bmg160_context dev, int wm)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
// mask off illegal values
|
||||
uint8_t reg = ((uint8_t)wm) & _BMG160_FIFO_CONFIG_0_WATER_MARK_MASK;
|
||||
|
||||
if (bmg160_write_reg(dev, BMG160_REG_FIFO_CONFIG_0, reg))
|
||||
return UPM_ERROR_OPERATION_FAILED;
|
||||
|
||||
return UPM_SUCCESS;
|
||||
}
|
||||
|
||||
upm_result_t bmg160_fifo_config(const bmg160_context dev,
|
||||
BMG160_FIFO_MODE_T mode,
|
||||
BMG160_FIFO_DATA_SEL_T axes)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
uint8_t reg = ( (mode << _BMG160_FIFO_CONFIG_1_FIFO_MODE_SHIFT) |
|
||||
(axes << _BMG160_FIFO_CONFIG_1_FIFO_DATA_SHIFT) );
|
||||
|
||||
if (bmg160_write_reg(dev, BMG160_REG_FIFO_CONFIG_1, reg))
|
||||
return UPM_ERROR_OPERATION_FAILED;
|
||||
|
||||
return UPM_SUCCESS;
|
||||
}
|
||||
|
||||
uint8_t bmg160_get_interrupt_enable0(const bmg160_context dev)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
return (bmg160_read_reg(dev, BMG160_REG_INT_EN_0)
|
||||
& ~_BMG160_INT_EN_0_RESERVED_BITS);
|
||||
}
|
||||
|
||||
upm_result_t bmg160_set_interrupt_enable0(const bmg160_context dev,
|
||||
uint8_t bits)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
uint8_t reg = bits & ~_BMG160_INT_EN_0_RESERVED_BITS;
|
||||
|
||||
if (bmg160_write_reg(dev, BMG160_REG_INT_EN_0, reg))
|
||||
return UPM_ERROR_OPERATION_FAILED;
|
||||
|
||||
return UPM_SUCCESS;
|
||||
}
|
||||
|
||||
uint8_t bmg160_get_interrupt_map0(const bmg160_context dev)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
return bmg160_read_reg(dev, BMG160_REG_INT_MAP_0)
|
||||
& ~_BMG160_INT_MAP_0_RESERVED_BITS;
|
||||
}
|
||||
|
||||
upm_result_t bmg160_set_interrupt_map0(const bmg160_context dev, uint8_t bits)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
uint8_t reg = bits & ~_BMG160_INT_MAP_0_RESERVED_BITS;
|
||||
|
||||
if (bmg160_write_reg(dev, BMG160_REG_INT_MAP_0, reg))
|
||||
return UPM_ERROR_OPERATION_FAILED;
|
||||
|
||||
return UPM_SUCCESS;
|
||||
}
|
||||
|
||||
uint8_t bmg160_get_interrupt_map1(const bmg160_context dev)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
return bmg160_read_reg(dev, BMG160_REG_INT_MAP_1);
|
||||
}
|
||||
|
||||
upm_result_t bmg160_set_interrupt_map1(const bmg160_context dev, uint8_t bits)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
if (bmg160_write_reg(dev, BMG160_REG_INT_MAP_1, bits))
|
||||
return UPM_ERROR_OPERATION_FAILED;
|
||||
|
||||
return UPM_SUCCESS;
|
||||
}
|
||||
|
||||
// REG_INT_EN1, for some strange reason
|
||||
uint8_t bmg160_get_interrupt_src(const bmg160_context dev)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
return (bmg160_read_reg(dev, BMG160_REG_INT_EN_1)
|
||||
& ~_BMG160_INT_EN_1_INT1_RESERVED_BITS);
|
||||
}
|
||||
|
||||
upm_result_t bmg160_set_interrupt_src(const bmg160_context dev, uint8_t bits)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
uint8_t reg = bits & ~_BMG160_INT_EN_1_INT1_RESERVED_BITS;
|
||||
|
||||
if (bmg160_write_reg(dev, BMG160_REG_INT_EN_1, reg))
|
||||
return UPM_ERROR_OPERATION_FAILED;
|
||||
|
||||
return UPM_SUCCESS;
|
||||
}
|
||||
|
||||
uint8_t bmg160_get_interrupt_output_control(const bmg160_context dev)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
return (bmg160_read_reg(dev, BMG160_REG_INT_EN_1)
|
||||
& ~_BMG160_INT_EN_1_INT1_RESERVED_BITS);
|
||||
}
|
||||
|
||||
upm_result_t bmg160_set_interrupt_output_control(const bmg160_context dev,
|
||||
uint8_t bits)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
uint8_t reg = bits & ~_BMG160_INT_EN_1_INT1_RESERVED_BITS;
|
||||
|
||||
if (bmg160_write_reg(dev, BMG160_REG_INT_EN_1, reg))
|
||||
return UPM_ERROR_OPERATION_FAILED;
|
||||
|
||||
return UPM_SUCCESS;
|
||||
}
|
||||
|
||||
upm_result_t bmg160_clear_interrupt_latches(const bmg160_context dev)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
uint8_t reg =
|
||||
bmg160_read_reg(dev, BMG160_REG_INT_RST_LATCH) & ~_BMG160_INT_RST_LATCH_RESERVED_BITS;
|
||||
|
||||
reg |= BMG160_INT_RST_LATCH_RESET_INT;
|
||||
|
||||
if (bmg160_write_reg(dev, BMG160_REG_INT_RST_LATCH, reg))
|
||||
return UPM_ERROR_OPERATION_FAILED;
|
||||
|
||||
return UPM_SUCCESS;
|
||||
}
|
||||
|
||||
BMG160_RST_LATCH_T bmg160_get_interrupt_latch_behavior(const bmg160_context dev)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
uint8_t reg = bmg160_read_reg(dev, BMG160_REG_INT_RST_LATCH)
|
||||
& ~_BMG160_INT_RST_LATCH_RESERVED_BITS;
|
||||
|
||||
reg &= (_BMG160_INT_RST_LATCH_MASK << _BMG160_INT_RST_LATCH_SHIFT);
|
||||
|
||||
return (BMG160_RST_LATCH_T)reg;
|
||||
}
|
||||
|
||||
upm_result_t bmg160_set_interrupt_latch_behavior(const bmg160_context dev,
|
||||
BMG160_RST_LATCH_T latch)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
uint8_t reg =
|
||||
bmg160_read_reg(dev, BMG160_REG_INT_RST_LATCH) & ~_BMG160_INT_RST_LATCH_RESERVED_BITS;
|
||||
|
||||
reg &= ~(_BMG160_INT_RST_LATCH_MASK << _BMG160_INT_RST_LATCH_SHIFT);
|
||||
reg |= (latch << _BMG160_INT_RST_LATCH_SHIFT);
|
||||
|
||||
if (bmg160_write_reg(dev, BMG160_REG_INT_RST_LATCH, reg))
|
||||
return UPM_ERROR_OPERATION_FAILED;
|
||||
|
||||
return UPM_SUCCESS;
|
||||
}
|
||||
|
||||
upm_result_t bmg160_enable_register_shadowing(const bmg160_context dev,
|
||||
bool shadow)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
uint8_t reg =
|
||||
bmg160_read_reg(dev, BMG160_REG_RATE_HBW) & ~_BMG160_RATE_HBW_RESERVED_BITS;
|
||||
|
||||
if (shadow)
|
||||
reg &= ~BMG160_RATE_HBW_SHADOW_DIS;
|
||||
else
|
||||
reg |= BMG160_RATE_HBW_SHADOW_DIS;
|
||||
|
||||
if (bmg160_write_reg(dev, BMG160_REG_RATE_HBW, reg))
|
||||
return UPM_ERROR_OPERATION_FAILED;
|
||||
|
||||
return UPM_SUCCESS;
|
||||
}
|
||||
|
||||
upm_result_t bmg160_enable_output_filtering(const bmg160_context dev,
|
||||
bool filter)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
uint8_t reg =
|
||||
bmg160_read_reg(dev, BMG160_REG_RATE_HBW) & ~_BMG160_RATE_HBW_RESERVED_BITS;
|
||||
|
||||
if (filter)
|
||||
reg &= ~BMG160_RATE_HBW_DATA_HIGH_BW;
|
||||
else
|
||||
reg |= BMG160_RATE_HBW_DATA_HIGH_BW;
|
||||
|
||||
if (bmg160_write_reg(dev, BMG160_REG_RATE_HBW, reg))
|
||||
return UPM_ERROR_OPERATION_FAILED;
|
||||
|
||||
return UPM_SUCCESS;
|
||||
}
|
||||
|
||||
uint8_t bmg160_get_interrupt_status0(const bmg160_context dev)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
return (bmg160_read_reg(dev, BMG160_REG_INT_STATUS_0)
|
||||
& ~_BMG160_INT_STATUS_0_RESERVED_BITS);
|
||||
}
|
||||
|
||||
uint8_t bmg160_get_interrupt_status1(const bmg160_context dev)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
return (bmg160_read_reg(dev, BMG160_REG_INT_STATUS_1)
|
||||
& ~_BMG160_INT_STATUS_1_RESERVED_BITS);
|
||||
}
|
||||
|
||||
uint8_t bmg160_get_interrupt_status2(const bmg160_context dev)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
return (bmg160_read_reg(dev, BMG160_REG_INT_STATUS_2)
|
||||
& ~_BMG160_INT_STATUS_2_RESERVED_BITS);
|
||||
}
|
||||
|
||||
uint8_t bmg160_get_interrupt_status3(const bmg160_context dev)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
return (bmg160_read_reg(dev, BMG160_REG_INT_STATUS_3)
|
||||
& ~_BMG160_INT_STATUS_3_RESERVED_BITS);
|
||||
}
|
||||
|
||||
upm_result_t bmg160_install_isr(const bmg160_context dev,
|
||||
BMG160_INTERRUPT_PINS_T intr, int gpio,
|
||||
mraa_gpio_edge_t level,
|
||||
void (*isr)(void *), void *arg)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
// delete any existing ISR and GPIO context for this interrupt
|
||||
bmg160_uninstall_isr(dev, intr);
|
||||
|
||||
mraa_gpio_context gpio_isr = NULL;
|
||||
|
||||
// create gpio context
|
||||
if (!(gpio_isr = mraa_gpio_init(gpio)))
|
||||
{
|
||||
printf("%s: mraa_gpio_init() failed.\n", __FUNCTION__);
|
||||
return UPM_ERROR_OPERATION_FAILED;
|
||||
}
|
||||
|
||||
mraa_gpio_dir(gpio_isr, MRAA_GPIO_IN);
|
||||
|
||||
if (mraa_gpio_isr(gpio_isr, level, isr, arg))
|
||||
{
|
||||
mraa_gpio_close(gpio_isr);
|
||||
printf("%s: mraa_gpio_isr() failed.\n", __FUNCTION__);
|
||||
return UPM_ERROR_OPERATION_FAILED;
|
||||
}
|
||||
|
||||
switch (intr)
|
||||
{
|
||||
case BMG160_INTERRUPT_INT1:
|
||||
dev->gpio1 = gpio_isr;
|
||||
break;
|
||||
|
||||
case BMG160_INTERRUPT_INT2:
|
||||
dev->gpio2 = gpio_isr;
|
||||
break;
|
||||
}
|
||||
|
||||
return UPM_SUCCESS;
|
||||
}
|
||||
|
||||
void bmg160_uninstall_isr(const bmg160_context dev,
|
||||
BMG160_INTERRUPT_PINS_T intr)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
switch (intr)
|
||||
{
|
||||
case BMG160_INTERRUPT_INT1:
|
||||
if (dev->gpio1)
|
||||
{
|
||||
mraa_gpio_isr_exit(dev->gpio1);
|
||||
mraa_gpio_close(dev->gpio1);
|
||||
dev->gpio1 = NULL;
|
||||
}
|
||||
break;
|
||||
|
||||
case BMG160_INTERRUPT_INT2:
|
||||
if (dev->gpio2)
|
||||
{
|
||||
mraa_gpio_isr_exit(dev->gpio2);
|
||||
mraa_gpio_close(dev->gpio2);
|
||||
dev->gpio2 = NULL;
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user