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bhy2_hif.c
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bhy2_hif.c
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/**
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bhy2_hif.c
* @date 2020-03-24
* @version v1.3.0
*
*/
#include "bhy2_hif.h"
/*! Mask definitions for SPI read/write address */
#define BHY2_SPI_RD_MASK UINT8_C(0x80)
#define BHY2_SPI_WR_MASK UINT8_C(0x7F)
union bhy2_hif_float_u32
{
bhy2_float as_float;
uint32_t reg;
};
/*
* If a command need several frames to upload to sensor,
* this command only be used in the first frame.
*
* |------------------------------------------------|---------------|
* |<-- frame one -->|<--frame two-->|
* |------------------------------------------------|---------------|
* | |<--pre_length-->|<--length-->| |
* |------------------|----------------|------------|---------------|
* | cmd | cmd_length | pre_payload | data 1 | data 2 |
* |-----------------------------------|------------|---------------|
* | payload |
* |------------|---------------|
* |<-- cmd_length -->|
* |----------------------------|
*/
static int8_t bhy2_hif_exec_cmd_generic(uint16_t cmd,
const uint8_t *payload,
uint32_t length,
const uint8_t *pre_payload,
uint32_t pre_length,
uint32_t cmd_length,
struct bhy2_hif_dev *hif)
{
int8_t rslt = BHY2_OK;
uint32_t remain, trans_len, copy_len, pos, total_len, temp_total_len, loop_remain_len, max_len;
uint8_t command_buf[BHY2_COMMAND_PACKET_LEN];
if ((hif != NULL) && !((length != 0) && (payload == NULL)) && !((pre_length != 0) && (pre_payload == NULL)))
{
if (hif->read_write_len != 0)
{
total_len = pre_length + length;
if (cmd_length)
{
temp_total_len = pre_length + cmd_length;
}
else
{
temp_total_len = total_len;
}
/* Align 4 bytes */
if (temp_total_len % 4)
{
temp_total_len = ((temp_total_len >> 2) + 1) << 2;
}
command_buf[0] = (uint8_t)(cmd & 0xFF);
command_buf[1] = (uint8_t)((cmd >> 8) & 0xFF);
/* Length in word */
if (cmd == BHY2_CMD_UPLOAD_TO_PROGRAM_RAM)
{
command_buf[2] = (temp_total_len / 4) & 0xFF;
command_buf[3] = ((temp_total_len / 4) >> 8) & 0xFF;
}
/* Length in byte */
else
{
command_buf[2] = temp_total_len & 0xFF;
command_buf[3] = (temp_total_len >> 8) & 0xFF;
}
pos = 4;
remain = total_len;
loop_remain_len = remain + pos;
max_len = BHY2_COMMAND_PACKET_LEN;
if (hif->read_write_len < max_len)
{
max_len = hif->read_write_len;
}
while ((loop_remain_len > 0) && (rslt == BHY2_OK))
{
if ((remain + pos) > max_len)
{
trans_len = max_len;
copy_len = max_len - pos;
}
else
{
trans_len = remain + pos;
copy_len = remain;
/* Align to 4 bytes */
if (trans_len % 4)
{
trans_len = ((trans_len >> 2) + 1) << 2;
}
if (trans_len > BHY2_COMMAND_PACKET_LEN)
{
trans_len = BHY2_COMMAND_PACKET_LEN;
}
}
if (copy_len > 0)
{
if (remain >= (length + copy_len))
{
memcpy(&command_buf[pos], &pre_payload[total_len - remain], copy_len);
}
else if (remain > length)
{
memcpy(&command_buf[pos], &pre_payload[total_len - remain], remain - length);
memcpy(&command_buf[pos + remain - length], payload, copy_len - (remain - length));
}
else
{
memcpy(&command_buf[pos], &payload[length - remain], copy_len);
}
}
if ((trans_len - (pos + copy_len)) > 0)
{
memset(&command_buf[pos + copy_len], 0, BHY2_COMMAND_PACKET_LEN - (pos + copy_len));
}
rslt = bhy2_hif_set_regs(BHY2_REG_CHAN_CMD, command_buf, trans_len, hif);
if (rslt != BHY2_OK)
{
break;
}
pos = 0;
remain -= copy_len;
loop_remain_len = remain;
}
}
else
{
rslt = BHY2_E_INVALID_PARAM;
}
}
else
{
rslt = BHY2_E_NULL_PTR;
}
return rslt;
}
static int8_t bhy2_wait_status_ready(struct bhy2_hif_dev *hif)
{
uint16_t retry;
uint8_t int_status;
int8_t rslt;
/* Wait status ready */
for (retry = 0; retry < BHY2_QUERY_PARAM_STATUS_READY_MAX_RETRY; ++retry)
{
rslt = bhy2_hif_get_interrupt_status(&int_status, hif);
if (rslt == BHY2_OK)
{
if (int_status & BHY2_IST_MASK_STATUS)
{
rslt = BHY2_OK;
break;
}
/* 10ms */
rslt = bhy2_hif_delay_us(10000, hif);
if (rslt != BHY2_OK)
{
return rslt;
}
}
else
{
return rslt; /*break; */
}
}
return rslt;
}
static int8_t bhy2_hif_check_boot_status_ram(struct bhy2_hif_dev *hif)
{
int8_t rslt;
uint16_t i;
uint8_t boot_status;
/* total 5s */
for (i = 0; i < BHY2_BST_CHECK_RETRY; ++i)
{
/* 50ms */
rslt = bhy2_hif_delay_us(50000, hif);
if (rslt < 0)
{
return rslt;
}
rslt = bhy2_hif_get_regs(BHY2_REG_BOOT_STATUS, &boot_status, sizeof(boot_status), hif);
if (rslt < 0)
{
return rslt;
}
if ((boot_status & BHY2_BST_HOST_INTERFACE_READY) && (boot_status & BHY2_BST_HOST_FW_VERIFY_DONE) &&
(!(boot_status & BHY2_BST_HOST_FW_VERIFY_ERROR)))
{
break;
}
}
if (i == BHY2_BST_CHECK_RETRY)
{
return BHY2_E_TIMEOUT;
}
return BHY2_OK;
}
static int8_t bhy2_hif_check_boot_status_flash(struct bhy2_hif_dev *hif)
{
int8_t rslt;
uint16_t i;
uint8_t boot_status;
/* total 5s */
for (i = 0; i < BHY2_BST_CHECK_RETRY; ++i)
{
/* 50ms */
rslt = bhy2_hif_delay_us(50000, hif);
if (rslt < 0)
{
return rslt;
}
rslt = bhy2_hif_get_regs(BHY2_REG_BOOT_STATUS, &boot_status, sizeof(boot_status), hif);
if (rslt < 0)
{
return rslt;
}
if ((boot_status & BHY2_BST_HOST_INTERFACE_READY) && (boot_status & BHY2_BST_FLASH_VERIFY_DONE) &&
(!(boot_status & BHY2_BST_FLASH_VERIFY_ERROR)))
{
break;
}
}
if (i == BHY2_BST_CHECK_RETRY)
{
return BHY2_E_TIMEOUT;
}
return BHY2_OK;
}
static int8_t bhy2_hif_get_fifo(uint8_t reg,
uint8_t *fifo,
uint32_t fifo_len,
uint32_t *bytes_read,
uint32_t *bytes_remain,
struct bhy2_hif_dev *hif)
{
int8_t rslt = BHY2_OK;
uint8_t n_bytes[2];
uint32_t read_len;
uint32_t read_write_len;
uint32_t offset;
if ((hif != NULL) && (fifo != NULL) && (bytes_read != NULL) && (bytes_remain != NULL))
{
read_write_len = hif->read_write_len;
if (*bytes_remain == 0)
{
rslt = bhy2_hif_get_regs(reg, n_bytes, 2, hif); /* Read the the available size */
*bytes_remain = BHY2_LE2U16(n_bytes);
}
if ((*bytes_remain != 0) && (rslt == BHY2_OK))
{
if (fifo_len < *bytes_remain)
{
*bytes_read = fifo_len;
}
else
{
*bytes_read = *bytes_remain;
}
read_len = *bytes_read;
offset = 0;
while (read_len > read_write_len)
{
rslt = bhy2_hif_get_regs(reg, &fifo[offset], read_write_len, hif);
if (rslt != BHY2_OK)
{
break;
}
read_len -= read_write_len;
offset += read_write_len;
}
if (read_len != 0)
{
rslt = bhy2_hif_get_regs(reg, &fifo[offset], read_len, hif);
}
*bytes_remain -= *bytes_read;
}
}
else
{
rslt = BHY2_E_NULL_PTR;
}
return rslt;
}
int8_t bhy2_hif_init(enum bhy2_intf intf,
bhy2_read_fptr_t read,
bhy2_write_fptr_t write,
bhy2_delay_us_fptr_t delay_us,
uint32_t read_write_len,
void *intf_ptr,
struct bhy2_hif_dev *hif)
{
int8_t rslt = BHY2_OK;
if ((hif != NULL) && (read != NULL) && (write != NULL) && (delay_us != NULL))
{
hif->read = read;
hif->write = write;
hif->delay_us = delay_us;
hif->intf_ptr = intf_ptr;
hif->intf = intf;
if (read_write_len % 4)
{
hif->read_write_len = ((read_write_len >> 2) + 1) << 2;
}
else
{
hif->read_write_len = read_write_len;
}
}
else
{
rslt = BHY2_E_NULL_PTR;
}
return rslt;
}
int8_t bhy2_hif_get_regs(uint8_t reg_addr, uint8_t *reg_data, uint32_t length, struct bhy2_hif_dev *hif)
{
int8_t rslt = BHY2_OK;
if ((hif != NULL) && (hif->read != NULL) && (reg_data != NULL))
{
if (hif->intf == BHY2_SPI_INTERFACE)
{
reg_addr |= BHY2_SPI_RD_MASK;
}
hif->intf_rslt = hif->read(reg_addr, reg_data, length, hif->intf_ptr);
if (hif->intf_rslt != BHY2_INTF_RET_SUCCESS)
{
rslt = BHY2_E_IO;
}
}
else
{
rslt = BHY2_E_NULL_PTR;
}
return rslt;
}
int8_t bhy2_hif_set_regs(uint8_t reg_addr, const uint8_t *reg_data, uint32_t length, struct bhy2_hif_dev *hif)
{
int8_t rslt = BHY2_OK;
if ((hif != NULL) && (hif->read != NULL) && (reg_data != NULL))
{
if (hif->intf == BHY2_SPI_INTERFACE)
{
reg_addr &= BHY2_SPI_WR_MASK;
}
hif->intf_rslt = hif->write(reg_addr, reg_data, length, hif->intf_ptr);
if (hif->intf_rslt != BHY2_INTF_RET_SUCCESS)
{
rslt = BHY2_E_IO;
}
}
else
{
rslt = BHY2_E_NULL_PTR;
}
return rslt;
}
int8_t bhy2_hif_delay_us(uint32_t period_us, const struct bhy2_hif_dev *hif)
{
int8_t rslt = BHY2_OK;
if ((hif != NULL) && (hif->delay_us != NULL))
{
hif->delay_us(period_us, hif->intf_ptr);
}
else
{
rslt = BHY2_E_NULL_PTR;
}
return rslt;
}
int8_t bhy2_hif_exec_cmd(uint16_t cmd, const uint8_t *payload, uint32_t length, struct bhy2_hif_dev *hif)
{
return bhy2_hif_exec_cmd_generic(cmd, payload, length, NULL, 0, 0, hif);
}
int8_t bhy2_hif_get_parameter(uint16_t param,
uint8_t *payload,
uint32_t payload_len,
uint32_t *actual_len,
struct bhy2_hif_dev *hif)
{
uint16_t code = 0;
uint8_t prev_hif_ctrl, hif_ctrl;
int8_t rslt = BHY2_OK;
if ((hif != NULL) && (payload != NULL) && (actual_len != NULL))
{
*actual_len = 0;
rslt = bhy2_hif_get_regs(BHY2_REG_HOST_INTERFACE_CTRL, &hif_ctrl, 1, hif);
if (rslt == BHY2_OK)
{
prev_hif_ctrl = hif_ctrl;
hif_ctrl &= (uint8_t)(~(BHY2_HIF_CTRL_ASYNC_STATUS_CHANNEL)); /* Change the Status FIFO to synchronous mode
* */
if (hif_ctrl != prev_hif_ctrl)
{
rslt = bhy2_hif_set_regs(BHY2_REG_HOST_INTERFACE_CTRL, &hif_ctrl, 1, hif);
}
if (rslt == BHY2_OK)
{
rslt = bhy2_hif_exec_cmd(param | BHY2_PARAM_READ_MASK, NULL, 0, hif);
if (rslt == BHY2_OK)
{
rslt = bhy2_wait_status_ready(hif);
if (rslt == BHY2_OK)
{
rslt = bhy2_hif_get_status_fifo(&code, payload, payload_len, actual_len, hif);
if (rslt == BHY2_OK)
{
if (hif_ctrl != prev_hif_ctrl)
{
hif_ctrl = prev_hif_ctrl;
rslt = bhy2_hif_set_regs(BHY2_REG_HOST_INTERFACE_CTRL, &hif_ctrl, 1, hif);
}
if (rslt == BHY2_OK)
{
if (code != param)
{
rslt = BHY2_E_TIMEOUT;
}
}
}
}
}
}
}
}
else
{
rslt = BHY2_E_NULL_PTR;
}
return rslt;
}
int8_t bhy2_hif_set_parameter(uint16_t param, const uint8_t *payload, uint32_t length, struct bhy2_hif_dev *hif)
{
return bhy2_hif_exec_cmd(param, payload, length, hif);
}
int8_t bhy2_hif_get_product_id(uint8_t *product_id, struct bhy2_hif_dev *hif)
{
return bhy2_hif_get_regs(BHY2_REG_PRODUCT_ID, product_id, 1, hif);
}
int8_t bhy2_hif_get_rom_version(uint16_t *rom_version, struct bhy2_hif_dev *hif)
{
uint8_t buffer[2];
int8_t rslt;
if (rom_version != NULL)
{
rslt = bhy2_hif_get_regs(BHY2_REG_ROM_VERSION_0, buffer, 2, hif);
*rom_version = BHY2_LE2U16(buffer);
}
else
{
rslt = BHY2_E_NULL_PTR;
}
return rslt;
}
int8_t bhy2_hif_get_kernel_version(uint16_t *kernel_version, struct bhy2_hif_dev *hif)
{
uint8_t buffer[2];
int8_t rslt;
if (kernel_version != NULL)
{
rslt = bhy2_hif_get_regs(BHY2_REG_KERNEL_VERSION_0, buffer, 2, hif);
*kernel_version = BHY2_LE2U16(buffer);
}
else
{
rslt = BHY2_E_NULL_PTR;
}
return rslt;
}
int8_t bhy2_hif_get_user_version(uint16_t *user_version, struct bhy2_hif_dev *hif)
{
uint8_t buffer[2];
int8_t rslt;
if (user_version != NULL)
{
rslt = bhy2_hif_get_regs(BHY2_REG_USER_VERSION_0, buffer, 2, hif);
*user_version = BHY2_LE2U16(buffer);
}
else
{
rslt = BHY2_E_NULL_PTR;
}
return rslt;
}
int8_t bhy2_hif_get_boot_status(uint8_t *boot_status, struct bhy2_hif_dev *hif)
{
return bhy2_hif_get_regs(BHY2_REG_BOOT_STATUS, boot_status, 1, hif);
}
int8_t bhy2_hif_get_host_status(uint8_t *host_status, struct bhy2_hif_dev *hif)
{
return bhy2_hif_get_regs(BHY2_REG_HOST_STATUS, host_status, 1, hif);
}
int8_t bhy2_hif_get_interrupt_status(uint8_t *int_status, struct bhy2_hif_dev *hif)
{
return bhy2_hif_get_regs(BHY2_REG_INT_STATUS, int_status, 1, hif);
}
int8_t bhy2_hif_get_fw_error(uint8_t *fw_error, struct bhy2_hif_dev *hif)
{
return bhy2_hif_get_regs(BHY2_REG_ERROR_VALUE, fw_error, 1, hif);
}
int8_t bhy2_hif_reset(struct bhy2_hif_dev *hif)
{
uint8_t reset_req = BHY2_REQUEST_RESET;
uint8_t boot_status = 0;
int8_t rslt;
/* Timeout at 150ms (15 * 10000 microseconds) */
uint16_t count = 15;
rslt = bhy2_hif_set_regs(BHY2_REG_RESET_REQ, &reset_req, 1, hif);
if (rslt == BHY2_OK)
{
while (count--)
{
rslt = bhy2_hif_delay_us(10000, hif);
if (rslt == BHY2_OK)
{
rslt = bhy2_hif_get_regs(BHY2_REG_BOOT_STATUS, &boot_status, 1, hif);
if (rslt == BHY2_OK)
{
if (boot_status & BHY2_BST_HOST_INTERFACE_READY)
{
break;
}
}
}
}
if (!(boot_status & BHY2_BST_HOST_INTERFACE_READY))
{
rslt = BHY2_E_TIMEOUT;
}
}
return rslt;
}
int8_t bhy2_hif_upload_firmware_to_ram(const uint8_t *firmware, uint32_t length, struct bhy2_hif_dev *hif)
{
int8_t rslt = BHY2_OK;
uint16_t magic;
if ((hif != NULL) && (firmware != NULL))
{
magic = BHY2_LE2U16(firmware);
if (magic != BHY2_FW_MAGIC)
{
rslt = BHY2_E_MAGIC;
}
else
{
rslt = bhy2_hif_exec_cmd(BHY2_CMD_UPLOAD_TO_PROGRAM_RAM, firmware, length, hif);
if (rslt == BHY2_OK)
{
rslt = bhy2_hif_check_boot_status_ram(hif);
}
}
}
else
{
rslt = BHY2_E_NULL_PTR;
}
return rslt;
}
int8_t bhy2_hif_upload_firmware_to_ram_partly(const uint8_t *firmware,
uint32_t total_size,
uint32_t cur_pos,
uint32_t packet_len,
struct bhy2_hif_dev *hif)
{
int8_t rslt = BHY2_OK;
uint16_t magic;
if ((hif != NULL) && (firmware != NULL))
{
if (cur_pos == 0)
{
magic = BHY2_LE2U16(firmware);
if (magic != BHY2_FW_MAGIC)
{
rslt = BHY2_E_MAGIC;
}
if (rslt == BHY2_OK)
{
rslt = bhy2_hif_exec_cmd_generic(BHY2_CMD_UPLOAD_TO_PROGRAM_RAM,
firmware,
packet_len,
NULL,
0,
total_size,
hif);
}
}
else
{
rslt = bhy2_hif_set_regs(BHY2_REG_CHAN_CMD, firmware, packet_len, hif);
}
}
else
{
rslt = BHY2_E_NULL_PTR;
}
return rslt;
}
int8_t bhy2_hif_boot_program_ram(struct bhy2_hif_dev *hif)
{
int8_t rslt;
rslt = bhy2_hif_exec_cmd(BHY2_CMD_BOOT_PROGRAM_RAM, NULL, 0, hif);
if (rslt == BHY2_OK)
{
rslt = bhy2_hif_check_boot_status_ram(hif);
}
return rslt;
}
int8_t bhy2_hif_get_wakeup_fifo(uint8_t *fifo,
uint32_t fifo_len,
uint32_t *bytes_read,
uint32_t *bytes_remain,
struct bhy2_hif_dev *hif)
{
return bhy2_hif_get_fifo(BHY2_REG_CHAN_FIFO_W, fifo, fifo_len, bytes_read, bytes_remain, hif);
}
int8_t bhy2_hif_get_nonwakeup_fifo(uint8_t *fifo,
uint32_t fifo_len,
uint32_t *bytes_read,
uint32_t *bytes_remain,
struct bhy2_hif_dev *hif)
{
return bhy2_hif_get_fifo(BHY2_REG_CHAN_FIFO_NW, fifo, fifo_len, bytes_read, bytes_remain, hif);
}
int8_t bhy2_hif_get_status_fifo(uint16_t *status_code,
uint8_t *fifo,
uint32_t fifo_len,
uint32_t *bytes_remain,
struct bhy2_hif_dev *hif)
{
int8_t rslt;
uint8_t tmp_fifo[4];
rslt = bhy2_hif_get_regs(BHY2_REG_CHAN_STATUS, tmp_fifo, 4, hif);
if (rslt == BHY2_OK)
{
*status_code = BHY2_LE2U16(&tmp_fifo[0]);
*bytes_remain = BHY2_LE2U16(&tmp_fifo[2]);
if (*bytes_remain != 0)
{
if (fifo_len < *bytes_remain)
{
rslt = BHY2_E_BUFFER;
}
else
{
rslt = bhy2_hif_get_regs(BHY2_REG_CHAN_STATUS, fifo, *bytes_remain, hif);
}
}
}
return rslt;
}
int8_t bhy2_hif_get_status_fifo_async(uint8_t *fifo,
uint32_t fifo_len,
uint32_t *bytes_read,
uint32_t *bytes_remain,
struct bhy2_hif_dev *hif)
{
return bhy2_hif_get_fifo(BHY2_REG_CHAN_STATUS, fifo, fifo_len, bytes_read, bytes_remain, hif);
}
int8_t bhy2_hif_exec_sensor_conf_cmd(uint8_t sensor_id,
bhy2_float sample_rate,
uint32_t latency,
struct bhy2_hif_dev *hif)
{
uint8_t tmp_buf[8];
union bhy2_hif_float_u32 sample_rate_u;
sample_rate_u.as_float = sample_rate;
/* Sample rate is 32bits, latency is 24bits */
tmp_buf[0] = sensor_id;
tmp_buf[1] = (uint8_t)(sample_rate_u.reg & 0xFF);
tmp_buf[2] = (uint8_t)((sample_rate_u.reg >> 8) & 0xFF);
tmp_buf[3] = (uint8_t)((sample_rate_u.reg >> 16) & 0xFF);
tmp_buf[4] = (uint8_t)((sample_rate_u.reg >> 24) & 0xFF);
tmp_buf[5] = (uint8_t)(latency & 0xFF);
tmp_buf[6] = (uint8_t)((latency >> 8) & 0xFF);
tmp_buf[7] = (uint8_t)((latency >> 16) & 0xFF);
return bhy2_hif_exec_cmd(BHY2_CMD_CONFIG_SENSOR, tmp_buf, 8, hif);
}
int8_t bhy2_hif_set_fifo_flush(uint8_t sensor_id, struct bhy2_hif_dev *hif)
{
uint8_t tmp_buf[4] = { sensor_id, 0, 0, 0 };
return bhy2_hif_exec_cmd(BHY2_CMD_FIFO_FLUSH, tmp_buf, 4, hif);
}
int8_t bhy2_hif_exec_soft_passthrough(const uint8_t *payload,
uint32_t payload_len,
uint8_t *reg_data,
uint32_t length,
uint32_t *actual_len,
struct bhy2_hif_dev *hif)
{
uint16_t code = 0;
uint8_t old_status, tmp_buf;
int8_t rslt;
/* Enter synchronous mode */
rslt = bhy2_hif_get_regs(BHY2_REG_HOST_INTERFACE_CTRL, &tmp_buf, 1, hif);
if (rslt == BHY2_OK)
{
old_status = tmp_buf;
tmp_buf &= (uint8_t)(~(BHY2_HIF_CTRL_ASYNC_STATUS_CHANNEL));
rslt = bhy2_hif_set_regs(BHY2_REG_HOST_INTERFACE_CTRL, &tmp_buf, 1, hif);
if (rslt == BHY2_OK)
{
/* Execute the Software passthrough */
rslt = bhy2_hif_exec_cmd(BHY2_CMD_SW_PASSTHROUGH, payload, payload_len, hif);
if (rslt == BHY2_OK)
{
rslt = bhy2_wait_status_ready(hif);
if (rslt == BHY2_OK)
{
/* Read back the response */
rslt = bhy2_hif_get_status_fifo(&code, reg_data, length, actual_len, hif);
if (rslt == BHY2_OK)
{
/* Set back to previous mode */
tmp_buf = old_status;
rslt = bhy2_hif_set_regs(BHY2_REG_HOST_INTERFACE_CTRL, &tmp_buf, 1, hif);
if (rslt == BHY2_OK)
{
if (code != BHY2_STATUS_SW_PASS_THRU_RES)
{
rslt = BHY2_E_TIMEOUT;
}
}
}
}
}
}
}
return rslt;
}
int8_t bhy2_hif_get_post_mortem(uint16_t *code,
uint32_t *actual_len,
uint8_t *post_mortem,
uint32_t buffer_len,
struct bhy2_hif_dev *hif)
{
uint8_t old_status, tmp_buf;
int8_t rslt;
if (code != NULL)
{
rslt = bhy2_hif_get_regs(BHY2_REG_HOST_INTERFACE_CTRL, &tmp_buf, 1, hif);
if (rslt == BHY2_OK)
{
old_status = tmp_buf;
tmp_buf &= (uint8_t)(~(BHY2_HIF_CTRL_ASYNC_STATUS_CHANNEL));
rslt = bhy2_hif_set_regs(BHY2_REG_HOST_INTERFACE_CTRL, &tmp_buf, 1, hif);
if (rslt == BHY2_OK)
{
rslt = bhy2_hif_exec_cmd(BHY2_CMD_REQ_POST_MORTEM_DATA, NULL, 0, hif);
if (rslt == BHY2_OK)
{
rslt = bhy2_wait_status_ready(hif);
if (rslt == BHY2_OK)
{
rslt = bhy2_hif_get_status_fifo(code, post_mortem, buffer_len, actual_len, hif);
if (rslt == BHY2_OK)
{
tmp_buf = old_status;
rslt = bhy2_hif_set_regs(BHY2_REG_HOST_INTERFACE_CTRL, &tmp_buf, 1, hif);
if (rslt == BHY2_OK)
{
if (*code != BHY2_STATUS_CRASH_DUMP)
{
rslt = BHY2_E_TIMEOUT;
}
}
}
}
}
}
}
}
else
{
rslt = BHY2_E_NULL_PTR;
}
return rslt;
}
int8_t bhy2_hif_do_self_test(uint8_t sensor_id, struct bhy2_self_test_resp *self_test_resp, struct bhy2_hif_dev *hif)
{
uint16_t code = 0;
uint8_t old_status, tmp_buf, req[4], ret_data[16];
uint32_t ret_len = 0;
int8_t rslt;
if (self_test_resp != NULL)
{
rslt = bhy2_hif_get_regs(BHY2_REG_HOST_INTERFACE_CTRL, &tmp_buf, 1, hif);
if (rslt == BHY2_OK)
{
old_status = tmp_buf;
tmp_buf &= (uint8_t)(~(BHY2_HIF_CTRL_ASYNC_STATUS_CHANNEL));
rslt = bhy2_hif_set_regs(BHY2_REG_HOST_INTERFACE_CTRL, &tmp_buf, 1, hif);
if (rslt == BHY2_OK)
{
req[0] = sensor_id;
req[1] = req[2] = req[3] = 0;
rslt = bhy2_hif_exec_cmd(BHY2_CMD_REQ_SELF_TEST, req, 4, hif);
if (rslt == BHY2_OK)
{
/* wait status ready */
rslt = bhy2_wait_status_ready(hif);
if (rslt == BHY2_OK)
{
rslt = bhy2_hif_get_status_fifo(&code, ret_data, 16, &ret_len, hif);
if (rslt == BHY2_OK)
{
tmp_buf = old_status;
rslt = bhy2_hif_set_regs(BHY2_REG_HOST_INTERFACE_CTRL, &tmp_buf, 1, hif);
if (rslt == BHY2_OK)
{
if (code != BHY2_STATUS_SELF_TEST_RES)
{
rslt = BHY2_E_TIMEOUT;
}
else
{
if (ret_data[0] != sensor_id)
{
rslt = BHY2_E_INVALID_PARAM;
}
else
{
self_test_resp->test_status = ret_data[1];
self_test_resp->x_offset = BHY2_LE2S16(&ret_data[2]);
self_test_resp->y_offset = BHY2_LE2S16(&ret_data[4]);
self_test_resp->z_offset = BHY2_LE2S16(&ret_data[6]);
}
}
}
}
}
}
}
}
}
else
{
rslt = BHY2_E_NULL_PTR;
}
return rslt;
}
int8_t bhy2_hif_do_foc(uint8_t sensor_id, struct bhy2_foc_resp *foc_resp, struct bhy2_hif_dev *hif)
{
uint16_t code = 0;
uint8_t old_status, tmp_buf, req[4], ret_data[16];
uint32_t ret_len = 0;
int8_t rslt;