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update basic WR of BMI270

This commit is contained in:
Hugo Chiang 2022-12-21 20:13:18 +08:00
parent a1aac626a3
commit 7ba22cacf5
1 changed files with 21 additions and 15 deletions
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36
src/main/drivers/accgyro/accgyro_spi_bmi270.c
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@ -165,6 +165,17 @@ static uint8_t bmi270RegisterRead(const extDevice_t *dev, bmi270Register_e regis
} }
} }
static uint16_t bmi270RegisterRead16(const extDevice_t *dev, bmi270Register_e registerId)
{
uint8_t data[3] = { 0, 0, 0 };
if (spiReadRegMskBufRB(dev, registerId, data, 3)) {
return (uint16_t)( (data[2]<<8) | data[1] ); // LSB first since address is auto-incremented
} else {
return 0;
}
}
static void bmi270RegisterWrite(const extDevice_t *dev, bmi270Register_e registerId, uint8_t value, unsigned delayMs) static void bmi270RegisterWrite(const extDevice_t *dev, bmi270Register_e registerId, uint8_t value, unsigned delayMs)
{ {
spiWriteReg(dev, registerId, value); spiWriteReg(dev, registerId, value);
@ -175,19 +186,17 @@ static void bmi270RegisterWrite(const extDevice_t *dev, bmi270Register_e registe
static void bmi270RegisterWriteBits(const extDevice_t *dev, bmi270Register_e registerID, bmi270ConfigMasks_e mask, uint8_t value, unsigned delayMs) static void bmi270RegisterWriteBits(const extDevice_t *dev, bmi270Register_e registerID, bmi270ConfigMasks_e mask, uint8_t value, unsigned delayMs)
{ {
uint8_t newValue; uint8_t newValue = bmi270RegisterRead(dev, registerID);
if (busReadRegisterBuffer(dev, registerID, &newValue, 1)) { delayMicroseconds(2);
delayMicroseconds(2); newValue = (newValue & ~mask) | value;
newValue = (newValue & ~mask) | value; bmi270RegisterWrite(dev, registerID, newValue, delayMs);
bmi270RegisterWrite(dev, registerID, newValue, delayMs);
}
} }
static void bmi270RegisterWrite16(const extDevice_t *dev, bmi270Register_e registerId, uint16_t data, unsigned delayMs) static void bmi270RegisterWrite16(const extDevice_t *dev, bmi270Register_e registerId, uint16_t data, unsigned delayMs)
{ {
uint8_t buf[2] = { uint8_t buf[2] = {
(uint8_t)(data >> 8), (uint8_t)(data & 0x00FF), // LSB first since address is auto-incremented
(uint8_t)(data & 0x00FF) (uint8_t)(data >> 8)
}; };
spiWriteRegBuf(dev, registerId, buf, 2); spiWriteRegBuf(dev, registerId, buf, 2);
if (delayMs) { if (delayMs) {
@ -197,13 +206,10 @@ static void bmi270RegisterWrite16(const extDevice_t *dev, bmi270Register_e regis
static void bmi270RegisterWriteBits16(const extDevice_t *dev, bmi270Register_e registerID, bmi270ConfigMasks_e mask, uint16_t value, unsigned delayMs) static void bmi270RegisterWriteBits16(const extDevice_t *dev, bmi270Register_e registerID, bmi270ConfigMasks_e mask, uint16_t value, unsigned delayMs)
{ {
uint8_t data[2] = {0}; uint16_t newValue = bmi270RegisterRead16(dev, registerID);
if (busReadRegisterBuffer(dev, registerID, data, 2)) { delayMicroseconds(2);
delayMicroseconds(2); newValue = (newValue & ~mask) | value;
uint16_t newValue = (data[0] << 8) | data[1]; bmi270RegisterWrite16(dev, registerID, newValue, delayMs);
newValue = (newValue & ~mask) | value;
bmi270RegisterWrite16(dev, registerID, newValue, delayMs);
}
} }
static int16_t bmi270GetGyroCas(uint8_t gyroCasRaw) static int16_t bmi270GetGyroCas(uint8_t gyroCasRaw)