Connecting the API to the Arduino environment

ArduinoExample.cpp

/**
* @brief Task that delays for a ms period of time
* @param period	: Period of time in ms
*/
void delay_ms(uint32_t period)
{
	// Wait for a period amount of ms
	// The system may simply idle, sleep or even perform background tasks
	delay(period);
}

/**
* @brief Callback function for reading registers over I2C
* @param devId		: Library agnostic parameter to identify the device to communicate with
* @param regAddr	: Register address
* @param regData	: Pointer to the array containing the data to be read
* @param length	: Length of the array of data
* @return	Zero for success, non-zero otherwise
*/
int8_t i2cRead(uint8_t devId, uint8_t regAddr, uint8_t *regData, uint16_t length)
{
	uint16_t i;
	int8_t rslt = 0;

	Wire.beginTransmission(devId);
	Wire.write(regAddr);
	rslt = Wire.endTransmission();
	
	Wire.requestFrom((int) devId, (int) length);
	for (i = 0; (i < length) && Wire.available(); i++) {
		regData[i] = Wire.read();
	}

	return rslt;
}

/**
* @brief Callback function for writing registers over I2C
* @param devId		: Library agnostic parameter to identify the device to communicate with
* @param regAddr	: Register address
* @param regData	: Pointer to the array containing the data to be written
* @param length	: Length of the array of data
* @return	Zero for success, non-zero otherwise
*/
int8_t i2cWrite(uint8_t devId, uint8_t regAddr, uint8_t *regData, uint16_t length)
{
	uint16_t i;
	int8_t rslt = 0;

	Wire.beginTransmission(devId);
	Wire.write(regAddr);
	for (i = 0; i < length; i++) {
		Wire.write(regData[i]);
	}
	rslt = Wire.endTransmission();

	return rslt;
}

/**
* @brief Callback function for reading and writing registers over SPI
* @param devId		: Library agnostic parameter to identify the device to communicate with
* @param regAddr	: Register address
* @param regData	: Pointer to the array containing the data to be read or written
* @param length	: Length of the array of data
* @return	Zero for success, non-zero otherwise
*/
int8_t spiTransfer(uint8_t devId, uint8_t regAddr, uint8_t *regData, uint16_t length)
{
	int8_t rslt = 0;

	SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE0)); // Can be upto 10MHz
	
	digitalWrite(devId, LOW);

	SPI.transfer(regAddr); // Write the register address, ignore the return
	for (uint16_t i = 0; i < length; i++)
		regData[i] = SPI.transfer(regData[i]);

	digitalWrite(devId, HIGH);
	SPI.endTransaction();

	return rslt;;
}

/**
* Example sketch configuration
*/
/*
#include "bmi160.h"

struct bmi160_dev bmiI2c, bmiSpi;

#define BMI160_CS	10 // Digital pin 10

void setup(void)
{
	// Configure the sensor for I2C communication	
	bmiI2c.id = BMI160_I2C_ADDR;
	bmiI2c.interface = BMI160_I2C_INTF;
	bmiI2c.read = i2cRead;
	bmiI2c.write = i2cWrite;
	bmiI2c.delay_ms = delay_ms;
	
	// Configure the sensor for SPI communication	
	bmiSpi.id = BMI160_CS; // Here define the chip select that you are using.
	bmiSpi.interface = BMI160_SPI_INTF;
	// In SPI, the register address determines the read/write intention and is handled within the API
	bmiSpi.read = spiTransfer; 
	bmiSpi.write = spiTransfer;
	bmiSpi.delay_ms = delay_ms;
	
	Wire.begin();
	SPI.begin();
	pinMode(BMI160_CS, OUTPUT);
	
	Serial.begin(115200); // For debugging
	
	if(bmi160_init(&bmiI2c) == BMI160_OK)
		Serial.println("BMI160 connected over I2C!");
	else if(bmi160_init(&bmiSpi) == BMI160_OK)
		Serial.println("BMI160 connected over SPI!");
	else
		Serial.println("BMI160 not found.");
}

*/