| /* |
| * Copyright (c) 2020 TDK Invensense |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| */ |
| |
| #include <zephyr/logging/log.h> |
| #include <zephyr/sys/__assert.h> |
| #include "icm42605_spi.h" |
| |
| LOG_MODULE_DECLARE(ICM42605, CONFIG_SENSOR_LOG_LEVEL); |
| |
| int inv_spi_single_write(const struct spi_dt_spec *bus, uint8_t reg, uint8_t *data) |
| { |
| int result; |
| |
| const struct spi_buf buf[2] = { |
| { |
| .buf = ®, |
| .len = 1, |
| }, |
| { |
| .buf = data, |
| .len = 1, |
| } |
| }; |
| const struct spi_buf_set tx = { |
| .buffers = buf, |
| .count = 2, |
| }; |
| |
| result = spi_write_dt(bus, &tx); |
| |
| if (result) { |
| return result; |
| } |
| |
| return 0; |
| } |
| |
| int inv_spi_read(const struct spi_dt_spec *bus, uint8_t reg, uint8_t *data, size_t len) |
| { |
| int result; |
| unsigned char tx_buffer[2] = { 0, }; |
| |
| tx_buffer[0] = 0x80 | reg; |
| |
| const struct spi_buf tx_buf = { |
| .buf = tx_buffer, |
| .len = 1, |
| }; |
| const struct spi_buf_set tx = { |
| .buffers = &tx_buf, |
| .count = 1, |
| }; |
| |
| struct spi_buf rx_buf[2] = { |
| { |
| .buf = tx_buffer, |
| .len = 1, |
| }, |
| { |
| .buf = data, |
| .len = len, |
| } |
| }; |
| |
| const struct spi_buf_set rx = { |
| .buffers = rx_buf, |
| .count = 2, |
| }; |
| |
| result = spi_transceive_dt(bus, &tx, &rx); |
| |
| if (result) { |
| return result; |
| } |
| |
| return 0; |
| } |