Added BMI160 SPI support

mjseppa · Jul 2, 2020 · 66d9bca · 66d9bca
1 parent d014abb
commit 66d9bca
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Showing 7 changed files with 351 additions and 58 deletions.
diff --git a/Makefile b/Makefile
@@ -155,6 +155,7 @@ CSRC = $(STARTUPSRC) \
        confgenerator.c \
        timer.c \
        i2c_bb.c \
+       spi_bb.c \
        virtual_motor.c \
        shutdown.c \
        mempools.c \

diff --git a/hwconf/hw_das_rs.h b/hwconf/hw_das_rs.h
@@ -201,6 +201,16 @@
 #define HW_SPI_PORT_MISO		GPIOA
 #define HW_SPI_PIN_MISO			6
 
+//BMI160 SPI pins
+#define BMI160_SPI_PORT_NSS		GPIOC
+#define BMI160_SPI_PIN_NSS		9
+#define BMI160_SPI_PORT_SCK		GPIOC
+#define BMI160_SPI_PIN_SCK		10
+#define BMI160_SPI_PORT_MOSI	GPIOC
+#define BMI160_SPI_PIN_MOSI		12
+#define BMI160_SPI_PORT_MISO	GPIOC
+#define BMI160_SPI_PIN_MISO		11								
+
 // Measurement macros
 #define ADC_V_L1				ADC_Value[ADC_IND_SENS1]
 #define ADC_V_L2				ADC_Value[ADC_IND_SENS2]

diff --git a/imu/bmi160_wrapper.h b/imu/bmi160_wrapper.h
@@ -27,6 +27,7 @@
 #include <stdbool.h>
 
 #include "i2c_bb.h"
+#include "spi_bb.h"
 #include "bmi160.h"
 
 typedef struct {