static void bmi160_handle_interrupts(void *arg)
{
struct device *dev = (struct device *)arg;
union {
u8_t raw[6];
struct {
u8_t dummy; /* spi related dummy byte */
u8_t status;
u8_t int_status[4];
};
} buf;
if (bmi160_read(dev, BMI160_REG_STATUS, buf.raw, sizeof(buf)) < 0) {
return;
}
if ((buf.int_status[0] & BMI160_INT_STATUS0_ANYM) &&
(buf.int_status[2] & (BMI160_INT_STATUS2_ANYM_FIRST_X |
BMI160_INT_STATUS2_ANYM_FIRST_Y |
BMI160_INT_STATUS2_ANYM_FIRST_Z))) {
bmi160_handle_anymotion(dev);
}
if (buf.int_status[1] & BMI160_INT_STATUS1_DRDY) {
bmi160_handle_drdy(dev, buf.status);
}
}
int bmi160_byte_read(struct device *dev, uint8_t reg_addr,
uint8_t *byte)
{
uint8_t rx_buf[2];
if (bmi160_read(dev, reg_addr, rx_buf, 2) < 0) {
return -EIO;
}
*byte = rx_buf[1];
return 0;
}
static int bmi160_word_read(struct device *dev, uint8_t reg_addr,
uint16_t *word)
{
union {
uint8_t raw[3];
struct {
uint8_t dummy;
uint16_t word;
} __packed;
} buf;
if (bmi160_read(dev, reg_addr, buf.raw, 3) < 0) {
return -EIO;
}
*word = sys_le16_to_cpu(buf.word);
return 0;
}
