BMI160Gen.cpp

#include "BMI160Gen.h"
#include "SPI.h"


//#define DEBUG

bool BMI160GenClass::begin(const int spi_cs_pin, const int intr_pin)
{	
    return begin(SPI_MODE, Wire, spi_cs_pin, intr_pin);
}

bool BMI160GenClass::begin(Mode mode, TwoWire &wirePort,const int arg1, const int arg2)
{
    this->mode = mode;
	_i2cPort = &wirePort;
    switch (this->mode) {
    case INVALID_MODE:
        return false;
    case I2C_MODE:
        i2c_addr = arg1;
        break;
    case SPI_MODE:
        spi_ss = arg1;
        break;
    default:
        return false;
    }
    if (0 <= arg2) {
        interrupt_pin = digitalPinToInterrupt(arg2);
#ifdef DEBUG
        Serial.print("BMI160GenClass::begin(): pin#=");
        Serial.print(arg2);
        Serial.print(" -> interrupt=");
        Serial.println(interrupt_pin);
#endif
    }
    return CurieIMUClass::begin();
}

void BMI160GenClass::attachInterrupt(void (*callback)(void))
{
    CurieIMUClass::attachInterrupt(NULL);
    if (0 <= interrupt_pin) {
        ::attachInterrupt(interrupt_pin, callback, FALLING); 
    } else {
        Serial.println("BMI160GenClass::attachInterrupt: No valid interruption pin.");
    }
}

void BMI160GenClass::ss_init()
{
    switch (this->mode) {
    case I2C_MODE:
        i2c_init();
        break;
    case SPI_MODE:
        spi_init();
        break;
    default:
        break;
    }
}

int BMI160GenClass::ss_xfer(uint8_t *buf, unsigned tx_cnt, unsigned rx_cnt)
{
    switch (this->mode) {
    case I2C_MODE:
        return i2c_xfer(buf, tx_cnt, rx_cnt);
    case SPI_MODE:
        if (rx_cnt) /* For read transfers, assume 1st byte contains register address */
            buf[0] |= (1 << BMI160_SPI_READ_BIT);
        return spi_xfer(buf, tx_cnt, rx_cnt);
    default:
        return 0;
    }
}

void BMI160GenClass::i2c_init()
{
#ifdef DEBUG
  Serial.println("BMI160GenClass::i2c_init()...");
#endif // DEBUG

  //_i2cPort->begin();
  _i2cPort->beginTransmission(i2c_addr);
  if( _i2cPort->endTransmission() != 0 )
      Serial.println("BMI160GenClass::i2c_init(): I2C failed.");

#ifdef DEBUG
  int id = getDeviceID();
  Serial.print("BMI160GenClass::i2c_init(): CHIP ID = 0x");
  Serial.println(id, HEX);
  Serial.println("BMI160GenClass::i2c_init()...done");
#endif // DEBUG
}

int BMI160GenClass::i2c_xfer(uint8_t *buf, unsigned tx_cnt, unsigned rx_cnt)
{
  uint8_t *p;

#ifdef DEBUG
  Serial.print("i2c_xfer(offs=0x");
  Serial.print(*buf, HEX);
  Serial.print(", tx=");
  Serial.print(tx_cnt);
  Serial.print(", rx=");
  Serial.print(rx_cnt);
  Serial.print("):");
#endif // DEBUG

  _i2cPort->beginTransmission(i2c_addr);
  p = buf;
  while (0 < tx_cnt) {
    tx_cnt--;
    _i2cPort->write(*p++);
  }
  if( _i2cPort->endTransmission() != 0 ) {
      Serial.println("Wire.endTransmission() failed.");
  }
  if (0 < rx_cnt) {
    _i2cPort->requestFrom(i2c_addr, rx_cnt);
    p = buf;
    while ( _i2cPort->available() && 0 < rx_cnt) {
      rx_cnt--;
#ifdef DEBUG
      int t = *p++ = _i2cPort->read();
      Serial.print(" ");
      Serial.print(t, HEX);
#else
      *p++ = _i2cPort->read();;
#endif // DEBUG
    }
  }

#ifdef DEBUG
  Serial.println("");
#endif // DEBUG

  return (0);
}

void BMI160GenClass::spi_init()
{
#ifdef DEBUG
  Serial.println("BMI160GenClass::spi_init()...");
#endif // DEBUG

  // start the SPI library:
  SPI.begin();
  if (0 <= spi_ss) {
    pinMode(spi_ss, OUTPUT);
  } else {
    Serial.println("BMI160GenClass::spi_init(): WARNING: No chip select pin specified.");
  }

#ifdef DEBUG
  Serial.println("BMI160GenClass::spi_init()...done");
#endif // DEBUG
}

int BMI160GenClass::spi_xfer(uint8_t *buf, unsigned tx_cnt, unsigned rx_cnt)
{
  uint8_t *p;

#ifdef DEBUG
  Serial.print("BMI160GenClass::spi_xfer(");
  Serial.print((unsigned long)buf, HEX);
  Serial.print("=");
  Serial.print(*buf, HEX);
  Serial.print(",");
  Serial.print(tx_cnt);
  Serial.print(",");
  Serial.print(rx_cnt);
  Serial.print("):");
#endif // DEBUG

  if (0 <= spi_ss)
    digitalWrite(spi_ss, LOW);
  p = buf;
  while (0 < tx_cnt) {
    tx_cnt--;
    SPI.transfer(*p++);
  }
  p = buf;
  while (0 < rx_cnt) {
    rx_cnt--;
#ifdef DEBUG
    int t = *p++ = SPI.transfer(0);
    Serial.print(" ");
    Serial.print(t, HEX);
#else
    *p++ = SPI.transfer(0);
#endif // DEBUG
  }
  if (0 <= spi_ss)
    digitalWrite(spi_ss, HIGH);

#ifdef DEBUG
  Serial.println("");
#endif // DEBUG

  return (0);
}

BMI160GenClass BMI160;