diff options
Diffstat (limited to 'zephyr/emul/emul_bmi160.c')
| -rw-r--r-- | zephyr/emul/emul_bmi160.c | 418 |
1 files changed, 217 insertions, 201 deletions
diff --git a/zephyr/emul/emul_bmi160.c b/zephyr/emul/emul_bmi160.c index 9a2f4b5cf1..c1d6b58a8f 100644 --- a/zephyr/emul/emul_bmi160.c +++ b/zephyr/emul/emul_bmi160.c @@ -1,4 +1,4 @@ -/* Copyright 2021 The Chromium OS Authors. All rights reserved. +/* Copyright 2021 The ChromiumOS Authors * Use of this source code is governed by a BSD-style license that can be * found in the LICENSE file. */ @@ -21,105 +21,105 @@ LOG_MODULE_REGISTER(emul_bmi160); /** Mask reserved bits in each register of BMI160 */ static const uint8_t bmi_emul_160_rsvd_mask[] = { - [BMI160_CHIP_ID] = 0x00, - [0x01] = 0xff, /* Reserved */ - [BMI160_ERR_REG] = 0x00, - [BMI160_PMU_STATUS] = 0xc0, - [BMI160_MAG_X_L_G] = 0x00, - [BMI160_MAG_X_H_G] = 0x00, - [BMI160_MAG_Y_L_G] = 0x00, - [BMI160_MAG_Y_H_G] = 0x00, - [BMI160_MAG_Z_L_G] = 0x00, - [BMI160_MAG_Z_H_G] = 0x00, - [BMI160_RHALL_L_G] = 0x00, - [BMI160_RHALL_H_G] = 0x00, - [BMI160_GYR_X_L_G] = 0x00, - [BMI160_GYR_X_H_G] = 0x00, - [BMI160_GYR_Y_L_G] = 0x00, - [BMI160_GYR_Y_H_G] = 0x00, - [BMI160_GYR_Z_L_G] = 0x00, - [BMI160_GYR_Z_H_G] = 0x00, - [BMI160_ACC_X_L_G] = 0x00, - [BMI160_ACC_X_H_G] = 0x00, - [BMI160_ACC_Y_L_G] = 0x00, - [BMI160_ACC_Y_H_G] = 0x00, - [BMI160_ACC_Z_L_G] = 0x00, - [BMI160_ACC_Z_H_G] = 0x00, - [BMI160_SENSORTIME_0] = 0x00, - [BMI160_SENSORTIME_1] = 0x00, - [BMI160_SENSORTIME_2] = 0x00, - [BMI160_STATUS] = 0x01, - [BMI160_INT_STATUS_0] = 0x00, - [BMI160_INT_STATUS_1] = 0x03, - [BMI160_INT_STATUS_2] = 0x00, - [BMI160_INT_STATUS_3] = 0x00, - [BMI160_TEMPERATURE_0] = 0x00, - [BMI160_TEMPERATURE_1] = 0x00, - [BMI160_FIFO_LENGTH_0] = 0x00, - [BMI160_FIFO_LENGTH_1] = 0xf8, - [BMI160_FIFO_DATA] = 0x00, - [0x25 ... 0x3f] = 0xff, /* Reserved */ - [BMI160_ACC_CONF] = 0x00, - [BMI160_ACC_RANGE] = 0xf0, - [BMI160_GYR_CONF] = 0xc0, - [BMI160_GYR_RANGE] = 0xf8, - [BMI160_MAG_CONF] = 0xf0, - [BMI160_FIFO_DOWNS] = 0x00, - [BMI160_FIFO_CONFIG_0] = 0x00, - [BMI160_FIFO_CONFIG_1] = 0x01, - [0x48 ... 0x4a] = 0xff, /* Reserved */ - [BMI160_MAG_IF_0] = 0x01, - [BMI160_MAG_IF_1] = 0x40, - [BMI160_MAG_IF_2] = 0x00, - [BMI160_MAG_IF_3] = 0x00, - [BMI160_MAG_IF_4] = 0x00, - [BMI160_INT_EN_0] = 0x08, - [BMI160_INT_EN_1] = 0x80, - [BMI160_INT_EN_2] = 0xf0, - [BMI160_INT_OUT_CTRL] = 0x00, - [BMI160_INT_LATCH] = 0xc0, - [BMI160_INT_MAP_0] = 0x00, - [BMI160_INT_MAP_1] = 0x00, - [BMI160_INT_MAP_2] = 0x00, - [BMI160_INT_DATA_0] = 0x77, - [BMI160_INT_DATA_1] = 0x7f, - [BMI160_INT_LOW_HIGH_0] = 0x00, - [BMI160_INT_LOW_HIGH_1] = 0x00, - [BMI160_INT_LOW_HIGH_2] = 0x3c, - [BMI160_INT_LOW_HIGH_3] = 0x00, - [BMI160_INT_LOW_HIGH_4] = 0x00, - [BMI160_INT_MOTION_0] = 0x00, - [BMI160_INT_MOTION_1] = 0x00, - [BMI160_INT_MOTION_2] = 0x00, - [BMI160_INT_MOTION_3] = 0xc0, - [BMI160_INT_TAP_0] = 0x38, - [BMI160_INT_TAP_1] = 0xe0, - [BMI160_INT_ORIENT_0] = 0x00, - [BMI160_INT_ORIENT_1] = 0x00, - [BMI160_INT_FLAT_0] = 0xc0, - [BMI160_INT_FLAT_1] = 0xc8, - [BMI160_FOC_CONF] = 0x80, - [BMI160_CONF] = 0xfd, - [BMI160_IF_CONF] = 0xce, - [BMI160_PMU_TRIGGER] = 0x80, - [BMI160_SELF_TEST] = 0xe0, - [0x6e] = 0xff, /* Reserved */ - [0x6f] = 0xff, /* Reserved */ - [BMI160_NV_CONF] = 0xf0, - [BMI160_OFFSET_ACC70] = 0x00, - [BMI160_OFFSET_ACC70 + 1] = 0x00, - [BMI160_OFFSET_ACC70 + 2] = 0x00, - [BMI160_OFFSET_GYR70] = 0x00, - [BMI160_OFFSET_GYR70 + 1] = 0x00, - [BMI160_OFFSET_GYR70 + 2] = 0x00, - [BMI160_OFFSET_EN_GYR98] = 0x00, - [BMI160_STEP_CNT_0] = 0x00, - [BMI160_STEP_CNT_1] = 0x00, - [BMI160_STEP_CONF_0] = 0x00, - [BMI160_STEP_CONF_1] = 0xf0, - [0x7c] = 0xff, /* Reserved */ - [0x7d] = 0xff, /* Reserved */ - [BMI160_CMD_REG] = 0x00, + [BMI160_CHIP_ID] = 0x00, + [0x01] = 0xff, /* Reserved */ + [BMI160_ERR_REG] = 0x00, + [BMI160_PMU_STATUS] = 0xc0, + [BMI160_MAG_X_L_G] = 0x00, + [BMI160_MAG_X_H_G] = 0x00, + [BMI160_MAG_Y_L_G] = 0x00, + [BMI160_MAG_Y_H_G] = 0x00, + [BMI160_MAG_Z_L_G] = 0x00, + [BMI160_MAG_Z_H_G] = 0x00, + [BMI160_RHALL_L_G] = 0x00, + [BMI160_RHALL_H_G] = 0x00, + [BMI160_GYR_X_L_G] = 0x00, + [BMI160_GYR_X_H_G] = 0x00, + [BMI160_GYR_Y_L_G] = 0x00, + [BMI160_GYR_Y_H_G] = 0x00, + [BMI160_GYR_Z_L_G] = 0x00, + [BMI160_GYR_Z_H_G] = 0x00, + [BMI160_ACC_X_L_G] = 0x00, + [BMI160_ACC_X_H_G] = 0x00, + [BMI160_ACC_Y_L_G] = 0x00, + [BMI160_ACC_Y_H_G] = 0x00, + [BMI160_ACC_Z_L_G] = 0x00, + [BMI160_ACC_Z_H_G] = 0x00, + [BMI160_SENSORTIME_0] = 0x00, + [BMI160_SENSORTIME_1] = 0x00, + [BMI160_SENSORTIME_2] = 0x00, + [BMI160_STATUS] = 0x01, + [BMI160_INT_STATUS_0] = 0x00, + [BMI160_INT_STATUS_1] = 0x03, + [BMI160_INT_STATUS_2] = 0x00, + [BMI160_INT_STATUS_3] = 0x00, + [BMI160_TEMPERATURE_0] = 0x00, + [BMI160_TEMPERATURE_1] = 0x00, + [BMI160_FIFO_LENGTH_0] = 0x00, + [BMI160_FIFO_LENGTH_1] = 0xf8, + [BMI160_FIFO_DATA] = 0x00, + [0x25 ... 0x3f] = 0xff, /* Reserved */ + [BMI160_ACC_CONF] = 0x00, + [BMI160_ACC_RANGE] = 0xf0, + [BMI160_GYR_CONF] = 0xc0, + [BMI160_GYR_RANGE] = 0xf8, + [BMI160_MAG_CONF] = 0xf0, + [BMI160_FIFO_DOWNS] = 0x00, + [BMI160_FIFO_CONFIG_0] = 0x00, + [BMI160_FIFO_CONFIG_1] = 0x01, + [0x48 ... 0x4a] = 0xff, /* Reserved */ + [BMI160_MAG_IF_0] = 0x01, + [BMI160_MAG_IF_1] = 0x40, + [BMI160_MAG_IF_2] = 0x00, + [BMI160_MAG_IF_3] = 0x00, + [BMI160_MAG_IF_4] = 0x00, + [BMI160_INT_EN_0] = 0x08, + [BMI160_INT_EN_1] = 0x80, + [BMI160_INT_EN_2] = 0xf0, + [BMI160_INT_OUT_CTRL] = 0x00, + [BMI160_INT_LATCH] = 0xc0, + [BMI160_INT_MAP_0] = 0x00, + [BMI160_INT_MAP_1] = 0x00, + [BMI160_INT_MAP_2] = 0x00, + [BMI160_INT_DATA_0] = 0x77, + [BMI160_INT_DATA_1] = 0x7f, + [BMI160_INT_LOW_HIGH_0] = 0x00, + [BMI160_INT_LOW_HIGH_1] = 0x00, + [BMI160_INT_LOW_HIGH_2] = 0x3c, + [BMI160_INT_LOW_HIGH_3] = 0x00, + [BMI160_INT_LOW_HIGH_4] = 0x00, + [BMI160_INT_MOTION_0] = 0x00, + [BMI160_INT_MOTION_1] = 0x00, + [BMI160_INT_MOTION_2] = 0x00, + [BMI160_INT_MOTION_3] = 0xc0, + [BMI160_INT_TAP_0] = 0x38, + [BMI160_INT_TAP_1] = 0xe0, + [BMI160_INT_ORIENT_0] = 0x00, + [BMI160_INT_ORIENT_1] = 0x00, + [BMI160_INT_FLAT_0] = 0xc0, + [BMI160_INT_FLAT_1] = 0xc8, + [BMI160_FOC_CONF] = 0x80, + [BMI160_CONF] = 0xfd, + [BMI160_IF_CONF] = 0xce, + [BMI160_PMU_TRIGGER] = 0x80, + [BMI160_SELF_TEST] = 0xe0, + [0x6e] = 0xff, /* Reserved */ + [0x6f] = 0xff, /* Reserved */ + [BMI160_NV_CONF] = 0xf0, + [BMI160_OFFSET_ACC70] = 0x00, + [BMI160_OFFSET_ACC70 + 1] = 0x00, + [BMI160_OFFSET_ACC70 + 2] = 0x00, + [BMI160_OFFSET_GYR70] = 0x00, + [BMI160_OFFSET_GYR70 + 1] = 0x00, + [BMI160_OFFSET_GYR70 + 2] = 0x00, + [BMI160_OFFSET_EN_GYR98] = 0x00, + [BMI160_STEP_CNT_0] = 0x00, + [BMI160_STEP_CNT_1] = 0x00, + [BMI160_STEP_CONF_0] = 0x00, + [BMI160_STEP_CONF_1] = 0xf0, + [0x7c] = 0xff, /* Reserved */ + [0x7d] = 0xff, /* Reserved */ + [BMI160_CMD_REG] = 0x00, }; /** @@ -182,95 +182,95 @@ static int bmi160_emul_gyr_range_to_shift(uint8_t range) * @param regs Pointer to array of emulator's registers * @param emul Pointer to BMI emulator */ -static void bmi160_emul_reset(uint8_t *regs, struct i2c_emul *emul) +static void bmi160_emul_reset(uint8_t *regs, const struct emul *emul) { bool tag_time; bool header; - regs[BMI160_CHIP_ID] = 0xd1; - regs[BMI160_ERR_REG] = 0x00; - regs[BMI160_PMU_STATUS] = 0x00; - regs[BMI160_MAG_X_L_G] = 0x00; - regs[BMI160_MAG_X_H_G] = 0x00; - regs[BMI160_MAG_Y_L_G] = 0x00; - regs[BMI160_MAG_Y_H_G] = 0x00; - regs[BMI160_MAG_Z_L_G] = 0x00; - regs[BMI160_MAG_Z_H_G] = 0x00; - regs[BMI160_RHALL_L_G] = 0x00; - regs[BMI160_RHALL_H_G] = 0x00; - regs[BMI160_GYR_X_L_G] = 0x00; - regs[BMI160_GYR_X_H_G] = 0x00; - regs[BMI160_GYR_Y_L_G] = 0x00; - regs[BMI160_GYR_Y_H_G] = 0x00; - regs[BMI160_GYR_Z_L_G] = 0x00; - regs[BMI160_GYR_Z_H_G] = 0x00; - regs[BMI160_ACC_X_L_G] = 0x00; - regs[BMI160_ACC_X_H_G] = 0x00; - regs[BMI160_ACC_Y_L_G] = 0x00; - regs[BMI160_ACC_Y_H_G] = 0x00; - regs[BMI160_ACC_Z_L_G] = 0x00; - regs[BMI160_ACC_Z_H_G] = 0x00; - regs[BMI160_SENSORTIME_0] = 0x00; - regs[BMI160_SENSORTIME_1] = 0x00; - regs[BMI160_SENSORTIME_2] = 0x00; - regs[BMI160_STATUS] = 0x01; - regs[BMI160_INT_STATUS_0] = 0x00; - regs[BMI160_INT_STATUS_1] = 0x00; - regs[BMI160_INT_STATUS_2] = 0x00; - regs[BMI160_INT_STATUS_3] = 0x00; - regs[BMI160_TEMPERATURE_0] = 0x00; - regs[BMI160_TEMPERATURE_1] = 0x00; - regs[BMI160_FIFO_LENGTH_0] = 0x00; - regs[BMI160_FIFO_LENGTH_1] = 0x00; - regs[BMI160_FIFO_DATA] = 0x00; - regs[BMI160_ACC_CONF] = 0x28; - regs[BMI160_ACC_RANGE] = 0x03; - regs[BMI160_GYR_CONF] = 0x28; - regs[BMI160_GYR_RANGE] = 0x00; - regs[BMI160_MAG_CONF] = 0x0b; - regs[BMI160_FIFO_DOWNS] = 0x88; - regs[BMI160_FIFO_CONFIG_0] = 0x80; - regs[BMI160_FIFO_CONFIG_1] = 0x10; - regs[BMI160_MAG_IF_0] = 0x20; - regs[BMI160_MAG_IF_1] = 0x80; - regs[BMI160_MAG_IF_2] = 0x42; - regs[BMI160_MAG_IF_3] = 0x4c; - regs[BMI160_MAG_IF_4] = 0x00; - regs[BMI160_INT_EN_0] = 0x00; - regs[BMI160_INT_EN_1] = 0x00; - regs[BMI160_INT_EN_2] = 0x00; - regs[BMI160_INT_OUT_CTRL] = 0x00; - regs[BMI160_INT_LATCH] = 0x00; - regs[BMI160_INT_MAP_0] = 0x00; - regs[BMI160_INT_MAP_1] = 0x00; - regs[BMI160_INT_MAP_2] = 0x00; - regs[BMI160_INT_DATA_0] = 0x00; - regs[BMI160_INT_DATA_1] = 0x00; - regs[BMI160_INT_LOW_HIGH_0] = 0x07; - regs[BMI160_INT_LOW_HIGH_1] = 0x30; - regs[BMI160_INT_LOW_HIGH_2] = 0x81; - regs[BMI160_INT_LOW_HIGH_3] = 0xdb; - regs[BMI160_INT_LOW_HIGH_4] = 0xc0; - regs[BMI160_INT_MOTION_0] = 0x00; - regs[BMI160_INT_MOTION_1] = 0x14; - regs[BMI160_INT_MOTION_2] = 0x14; - regs[BMI160_INT_MOTION_3] = 0x24; - regs[BMI160_INT_TAP_0] = 0x04; - regs[BMI160_INT_TAP_1] = 0xda; - regs[BMI160_INT_ORIENT_0] = 0x18; - regs[BMI160_INT_ORIENT_1] = 0x48; - regs[BMI160_INT_FLAT_0] = 0x08; - regs[BMI160_INT_FLAT_1] = 0x11; - regs[BMI160_FOC_CONF] = 0x00; - regs[BMI160_CONF] = 0x00; - regs[BMI160_IF_CONF] = 0x00; - regs[BMI160_PMU_TRIGGER] = 0x00; - regs[BMI160_SELF_TEST] = 0x00; - regs[BMI160_STEP_CNT_0] = 0x00; - regs[BMI160_STEP_CNT_1] = 0x00; - regs[BMI160_STEP_CONF_0] = 0x00; - regs[BMI160_STEP_CONF_1] = 0x15; - regs[BMI160_CMD_REG] = 0x03; + regs[BMI160_CHIP_ID] = 0xd1; + regs[BMI160_ERR_REG] = 0x00; + regs[BMI160_PMU_STATUS] = 0x00; + regs[BMI160_MAG_X_L_G] = 0x00; + regs[BMI160_MAG_X_H_G] = 0x00; + regs[BMI160_MAG_Y_L_G] = 0x00; + regs[BMI160_MAG_Y_H_G] = 0x00; + regs[BMI160_MAG_Z_L_G] = 0x00; + regs[BMI160_MAG_Z_H_G] = 0x00; + regs[BMI160_RHALL_L_G] = 0x00; + regs[BMI160_RHALL_H_G] = 0x00; + regs[BMI160_GYR_X_L_G] = 0x00; + regs[BMI160_GYR_X_H_G] = 0x00; + regs[BMI160_GYR_Y_L_G] = 0x00; + regs[BMI160_GYR_Y_H_G] = 0x00; + regs[BMI160_GYR_Z_L_G] = 0x00; + regs[BMI160_GYR_Z_H_G] = 0x00; + regs[BMI160_ACC_X_L_G] = 0x00; + regs[BMI160_ACC_X_H_G] = 0x00; + regs[BMI160_ACC_Y_L_G] = 0x00; + regs[BMI160_ACC_Y_H_G] = 0x00; + regs[BMI160_ACC_Z_L_G] = 0x00; + regs[BMI160_ACC_Z_H_G] = 0x00; + regs[BMI160_SENSORTIME_0] = 0x00; + regs[BMI160_SENSORTIME_1] = 0x00; + regs[BMI160_SENSORTIME_2] = 0x00; + regs[BMI160_STATUS] = 0x01; + regs[BMI160_INT_STATUS_0] = 0x00; + regs[BMI160_INT_STATUS_1] = 0x00; + regs[BMI160_INT_STATUS_2] = 0x00; + regs[BMI160_INT_STATUS_3] = 0x00; + regs[BMI160_TEMPERATURE_0] = 0x00; + regs[BMI160_TEMPERATURE_1] = 0x00; + regs[BMI160_FIFO_LENGTH_0] = 0x00; + regs[BMI160_FIFO_LENGTH_1] = 0x00; + regs[BMI160_FIFO_DATA] = 0x00; + regs[BMI160_ACC_CONF] = 0x28; + regs[BMI160_ACC_RANGE] = 0x03; + regs[BMI160_GYR_CONF] = 0x28; + regs[BMI160_GYR_RANGE] = 0x00; + regs[BMI160_MAG_CONF] = 0x0b; + regs[BMI160_FIFO_DOWNS] = 0x88; + regs[BMI160_FIFO_CONFIG_0] = 0x80; + regs[BMI160_FIFO_CONFIG_1] = 0x10; + regs[BMI160_MAG_IF_0] = 0x20; + regs[BMI160_MAG_IF_1] = 0x80; + regs[BMI160_MAG_IF_2] = 0x42; + regs[BMI160_MAG_IF_3] = 0x4c; + regs[BMI160_MAG_IF_4] = 0x00; + regs[BMI160_INT_EN_0] = 0x00; + regs[BMI160_INT_EN_1] = 0x00; + regs[BMI160_INT_EN_2] = 0x00; + regs[BMI160_INT_OUT_CTRL] = 0x00; + regs[BMI160_INT_LATCH] = 0x00; + regs[BMI160_INT_MAP_0] = 0x00; + regs[BMI160_INT_MAP_1] = 0x00; + regs[BMI160_INT_MAP_2] = 0x00; + regs[BMI160_INT_DATA_0] = 0x00; + regs[BMI160_INT_DATA_1] = 0x00; + regs[BMI160_INT_LOW_HIGH_0] = 0x07; + regs[BMI160_INT_LOW_HIGH_1] = 0x30; + regs[BMI160_INT_LOW_HIGH_2] = 0x81; + regs[BMI160_INT_LOW_HIGH_3] = 0xdb; + regs[BMI160_INT_LOW_HIGH_4] = 0xc0; + regs[BMI160_INT_MOTION_0] = 0x00; + regs[BMI160_INT_MOTION_1] = 0x14; + regs[BMI160_INT_MOTION_2] = 0x14; + regs[BMI160_INT_MOTION_3] = 0x24; + regs[BMI160_INT_TAP_0] = 0x04; + regs[BMI160_INT_TAP_1] = 0xda; + regs[BMI160_INT_ORIENT_0] = 0x18; + regs[BMI160_INT_ORIENT_1] = 0x48; + regs[BMI160_INT_FLAT_0] = 0x08; + regs[BMI160_INT_FLAT_1] = 0x11; + regs[BMI160_FOC_CONF] = 0x00; + regs[BMI160_CONF] = 0x00; + regs[BMI160_IF_CONF] = 0x00; + regs[BMI160_PMU_TRIGGER] = 0x00; + regs[BMI160_SELF_TEST] = 0x00; + regs[BMI160_STEP_CNT_0] = 0x00; + regs[BMI160_STEP_CNT_1] = 0x00; + regs[BMI160_STEP_CONF_0] = 0x00; + regs[BMI160_STEP_CONF_1] = 0x15; + regs[BMI160_CMD_REG] = 0x03; /* Call generic reset */ tag_time = regs[BMI160_FIFO_CONFIG_1] & BMI160_FIFO_TAG_TIME_EN; @@ -349,7 +349,7 @@ static int16_t bmi160_emul_get_acc_target_off(int32_t acc, uint8_t target) * @param regs Pointer to array of emulator's registers * @param emul Pointer to BMI emulator */ -static void bmi160_emul_handle_off_comp(uint8_t *regs, struct i2c_emul *emul) +static void bmi160_emul_handle_off_comp(uint8_t *regs, const struct emul *emul) { uint8_t target; int16_t off; @@ -361,6 +361,7 @@ static void bmi160_emul_handle_off_comp(uint8_t *regs, struct i2c_emul *emul) bmi_emul_set_off(emul, BMI_EMUL_GYR_X, off); val = bmi_emul_get_value(emul, BMI_EMUL_GYR_Y); off = bmi160_emul_get_gyr_target_off(val); + bmi_emul_set_off(emul, BMI_EMUL_GYR_Y, off); val = bmi_emul_get_value(emul, BMI_EMUL_GYR_Z); off = bmi160_emul_get_gyr_target_off(val); @@ -401,7 +402,8 @@ static void bmi160_emul_handle_off_comp(uint8_t *regs, struct i2c_emul *emul) * @return 0 on success * @return -EIO on failure */ -static int bmi160_emul_start_cmd(uint8_t *regs, struct i2c_emul *emul, int cmd) +static int bmi160_emul_start_cmd(uint8_t *regs, const struct emul *emul, + int cmd) { int time; @@ -470,7 +472,7 @@ static int bmi160_emul_start_cmd(uint8_t *regs, struct i2c_emul *emul, int cmd) * @param regs Pointer to array of emulator's registers * @param emul Pointer to BMI emulator */ -static void bmi160_emul_end_cmd(uint8_t *regs, struct i2c_emul *emul) +static void bmi160_emul_end_cmd(uint8_t *regs, const struct emul *emul) { uint8_t pmu_status; bool tag_time; @@ -560,7 +562,7 @@ static void bmi160_emul_end_cmd(uint8_t *regs, struct i2c_emul *emul) * @return BMI_EMUL_ACCESS_E on RO register access * @return -EIO on error */ -static int bmi160_emul_handle_write(uint8_t *regs, struct i2c_emul *emul, +static int bmi160_emul_handle_write(uint8_t *regs, const struct emul *emul, int reg, int byte, uint8_t val) { bool tag_time; @@ -618,7 +620,7 @@ static int bmi160_emul_handle_write(uint8_t *regs, struct i2c_emul *emul, * * @return Currently accessed register */ -static int bmi160_emul_access_reg(struct i2c_emul *emul, int reg, int byte, +static int bmi160_emul_access_reg(const struct emul *emul, int reg, int byte, bool read) { if (!read) { @@ -654,7 +656,7 @@ static int bmi160_emul_access_reg(struct i2c_emul *emul, int reg, int byte, * @return BMI_EMUL_ACCESS_E on WO register access * @return -EIO on other error */ -static int bmi160_emul_handle_read(uint8_t *regs, struct i2c_emul *emul, +static int bmi160_emul_handle_read(uint8_t *regs, const struct emul *emul, int reg, int byte, char *buf) { uint16_t fifo_len; @@ -714,8 +716,8 @@ static int bmi160_emul_handle_read(uint8_t *regs, struct i2c_emul *emul, bmi_emul_state_to_reg(emul, acc_shift, gyr_shift, BMI160_ACC_X_L_G, BMI160_GYR_X_L_G, - BMI160_SENSORTIME_0, - acc_off_en, gyr_off_en); + BMI160_SENSORTIME_0, acc_off_en, + gyr_off_en); } break; case BMI160_FIFO_LENGTH_0: @@ -738,21 +740,35 @@ static int bmi160_emul_handle_read(uint8_t *regs, struct i2c_emul *emul, return 0; } +static int bmi160_emul_finish_read(uint8_t *regs, const struct emul *emul, + int reg, int bytes) +{ + int i; + + switch (reg) { + case BMI160_INT_STATUS_0: + /* Clear interrupt status after reading. */ + for (i = 0; i < bytes; ++i) { + regs[BMI160_INT_STATUS_0 + i] = 0; + } + break; + } + return 0; +} + /** Registers backed in NVM by BMI160 */ -const int bmi160_nvm_reg[] = {BMI160_NV_CONF, - BMI160_OFFSET_ACC70, - BMI160_OFFSET_ACC70 + 1, - BMI160_OFFSET_ACC70 + 2, - BMI160_OFFSET_GYR70, - BMI160_OFFSET_GYR70 + 1, - BMI160_OFFSET_GYR70 + 2, - BMI160_OFFSET_EN_GYR98}; +const int bmi160_nvm_reg[] = { + BMI160_NV_CONF, BMI160_OFFSET_ACC70, BMI160_OFFSET_ACC70 + 1, + BMI160_OFFSET_ACC70 + 2, BMI160_OFFSET_GYR70, BMI160_OFFSET_GYR70 + 1, + BMI160_OFFSET_GYR70 + 2, BMI160_OFFSET_EN_GYR98 +}; /** Confguration of BMI160 */ struct bmi_emul_type_data bmi160_emul = { .sensortime_follow_config_frame = false, .handle_write = bmi160_emul_handle_write, .handle_read = bmi160_emul_handle_read, + .finish_read = bmi160_emul_finish_read, .access_reg = bmi160_emul_access_reg, .reset = bmi160_emul_reset, .rsvd_mask = bmi_emul_160_rsvd_mask, |