lps25h_spi.cpp

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/**
 * @file LPS25H_SPI.cpp
 *
 * SPI interface for LPS25H
 */

#include "lps25h.h"

#ifdef PX4_SPIDEV_HMC

/* SPI protocol address bits */
#define DIR_READ            (1<<7)
#define DIR_WRITE           (0<<7)

#define HMC_MAX_SEND_LEN        4
#define HMC_MAX_RCV_LEN         8

device::Device *LPS25H_SPI_interface(int bus);

class LPS25H_SPI : public device::SPI
{
public:
    LPS25H_SPI(int bus, uint32_t device);
    virtual ~LPS25H_SPI() = default;

    virtual int init();
    virtual int read(unsigned address, void *data, unsigned count);
    virtual int write(unsigned address, void *data, unsigned count);

    virtual int ioctl(unsigned operation, unsigned &arg);

};

device::Device *
LPS25H_SPI_interface(int bus)
{
    return new LPS25H_SPI(bus, PX4_SPIDEV_HMC);
}

LPS25H_SPI::LPS25H_SPI(int bus, uint32_t device) :
    SPI("LPS25H_SPI", nullptr, bus, device, SPIDEV_MODE3, 11 * 1000 * 1000 /* will be rounded to 10.4 MHz */)
{
    _device_id.devid_s.devtype = DRV_MAG_DEVTYPE_LPS25H;
}

int
LPS25H_SPI::init()
{
    int ret;

    ret = SPI::init();

    if (ret != OK) {
        DEVICE_DEBUG("SPI init failed");
        return -EIO;
    }

    // read WHO_AM_I value
    uint8_t id;

    if (read(ADDR_ID, &id, 1)) {
        DEVICE_DEBUG("read_reg fail");
        return -EIO;
    }

    if (id != ID_WHO_AM_I) {
        DEVICE_DEBUG("ID byte mismatch (%02x != %02x)", ID_WHO_AM_I, id);
        return -EIO;
    }

    return OK;
}

int
LPS25H_SPI::ioctl(unsigned operation, unsigned &arg)
{
    int ret;

    switch (operation) {

    case DEVIOCGDEVICEID:
        return CDev::ioctl(nullptr, operation, arg);

    default: {
            ret = -EINVAL;
        }
    }

    return ret;
}

int
LPS25H_SPI::write(unsigned address, void *data, unsigned count)
{
    uint8_t buf[32];

    if (sizeof(buf) < (count + 1)) {
        return -EIO;
    }

    buf[0] = address | DIR_WRITE;
    memcpy(&buf[1], data, count);

    return transfer(&buf[0], &buf[0], count + 1);
}

int
LPS25H_SPI::read(unsigned address, void *data, unsigned count)
{
    uint8_t buf[32];

    if (sizeof(buf) < (count + 1)) {
        return -EIO;
    }

    buf[0] = address | DIR_READ;

    int ret = transfer(&buf[0], &buf[0], count + 1);
    memcpy(data, &buf[1], count);
    return ret;
}

#endif /* PX4_SPIDEV_HMC */