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i2ccmds: abstract i2c dev from bus implementation

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Added wrapper around sw/hw bus API,
pins.py code will ensure that pins will not mix
between HW/SW buses.

Signed-off-by: Timofey Titovets <nefelim4ag@gmail.com>
This commit is contained in:
Timofey Titovets
2024-09-13 22:02:05 +02:00
committed by KevinOConnor
parent 39f08aeda1
commit 08a85ba869
4 changed files with 37 additions and 25 deletions
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9
src/sensor_mpu9250.c
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@@ -13,7 +13,6 @@
#include "command.h" // DECL_COMMAND
#include "sched.h" // DECL_TASK
#include "sensor_bulk.h" // sensor_bulk_report
#include "board/gpio.h" // i2c_read
#include "i2ccmds.h" // i2cdev_oid_lookup
// Chip registers
@@ -77,7 +76,7 @@ get_fifo_status(struct mpu9250 *mp)
{
uint8_t reg[] = {AR_FIFO_COUNT_H};
uint8_t msg[2];
i2c_read(mp->i2c->i2c_config, sizeof(reg), reg, sizeof(msg), msg);
i2c_dev_read(mp->i2c, sizeof(reg), reg, sizeof(msg), msg);
uint16_t fifo_bytes = ((msg[0] & 0x1f) << 8) | msg[1];
if (fifo_bytes > mp->fifo_max)
mp->fifo_max = fifo_bytes;
@@ -95,7 +94,7 @@ mp9250_query(struct mpu9250 *mp, uint8_t oid)
// If we have enough bytes to fill the buffer do it and send report
if (mp->fifo_pkts_bytes >= BYTES_PER_BLOCK) {
uint8_t reg = AR_FIFO;
i2c_read(mp->i2c->i2c_config, sizeof(reg), &reg
i2c_dev_read(mp->i2c, sizeof(reg), &reg
, BYTES_PER_BLOCK, &mp->sb.data[0]);
mp->sb.data_count = BYTES_PER_BLOCK;
mp->fifo_pkts_bytes -= BYTES_PER_BLOCK;
@@ -144,7 +143,7 @@ command_query_mpu9250_status(uint32_t *args)
// Detect if a FIFO overrun occurred
uint8_t int_reg[] = {AR_INT_STATUS};
uint8_t int_msg;
i2c_read(mp->i2c->i2c_config, sizeof(int_reg), int_reg, sizeof(int_msg),
i2c_dev_read(mp->i2c, sizeof(int_reg), int_reg, sizeof(int_msg),
&int_msg);
if (int_msg & FIFO_OVERFLOW_INT)
mp->sb.possible_overflows++;
@@ -153,7 +152,7 @@ command_query_mpu9250_status(uint32_t *args)
uint8_t reg[] = {AR_FIFO_COUNT_H};
uint8_t msg[2];
uint32_t time1 = timer_read_time();
i2c_read(mp->i2c->i2c_config, sizeof(reg), reg, sizeof(msg), msg);
i2c_dev_read(mp->i2c, sizeof(reg), reg, sizeof(msg), msg);
uint32_t time2 = timer_read_time();
uint16_t fifo_bytes = ((msg[0] & 0x1f) << 8) | msg[1];