172 lines
3.6 KiB
C
172 lines
3.6 KiB
C
/* lsm6dsl_spi.c - SPI routines for LSM6DSL driver
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*/
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/*
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* Copyright (c) 2018 STMicroelectronics
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <string.h>
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#include <drivers/spi.h>
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#include "lsm6dsl.h"
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#include <logging/log.h>
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#ifdef DT_ST_LSM6DSL_BUS_SPI
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#define LSM6DSL_SPI_READ (1 << 7)
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#define LOG_LEVEL CONFIG_SENSOR_LOG_LEVEL
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LOG_MODULE_DECLARE(LSM6DSL);
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#if defined(DT_INST_0_ST_LSM6DSL_CS_GPIOS_CONTROLLER)
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static struct spi_cs_control lsm6dsl_cs_ctrl;
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#endif
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#define SPI_CS NULL
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static struct spi_config lsm6dsl_spi_conf = {
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.frequency = DT_INST_0_ST_LSM6DSL_SPI_MAX_FREQUENCY,
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.operation = (SPI_OP_MODE_MASTER | SPI_MODE_CPOL |
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SPI_MODE_CPHA | SPI_WORD_SET(8) | SPI_LINES_SINGLE),
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.slave = DT_INST_0_ST_LSM6DSL_BASE_ADDRESS,
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.cs = SPI_CS,
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};
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static int lsm6dsl_raw_read(struct lsm6dsl_data *data, u8_t reg_addr,
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u8_t *value, u8_t len)
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{
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struct spi_config *spi_cfg = &lsm6dsl_spi_conf;
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u8_t buffer_tx[2] = { reg_addr | LSM6DSL_SPI_READ, 0 };
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const struct spi_buf tx_buf = {
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.buf = buffer_tx,
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.len = 2,
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};
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const struct spi_buf_set tx = {
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.buffers = &tx_buf,
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.count = 1
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};
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const struct spi_buf rx_buf[2] = {
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{
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.buf = NULL,
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.len = 1,
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},
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{
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.buf = value,
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.len = len,
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}
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};
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const struct spi_buf_set rx = {
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.buffers = rx_buf,
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.count = 2
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};
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if (len > 64) {
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return -EIO;
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}
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if (spi_transceive(data->comm_master, spi_cfg, &tx, &rx)) {
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return -EIO;
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}
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return 0;
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}
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static int lsm6dsl_raw_write(struct lsm6dsl_data *data, u8_t reg_addr,
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u8_t *value, u8_t len)
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{
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struct spi_config *spi_cfg = &lsm6dsl_spi_conf;
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u8_t buffer_tx[1] = { reg_addr & ~LSM6DSL_SPI_READ };
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const struct spi_buf tx_buf[2] = {
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{
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.buf = buffer_tx,
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.len = 1,
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},
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{
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.buf = value,
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.len = len,
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}
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};
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const struct spi_buf_set tx = {
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.buffers = tx_buf,
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.count = 2
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};
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if (len > 64) {
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return -EIO;
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}
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if (spi_write(data->comm_master, spi_cfg, &tx)) {
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return -EIO;
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}
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return 0;
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}
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static int lsm6dsl_spi_read_data(struct lsm6dsl_data *data, u8_t reg_addr,
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u8_t *value, u8_t len)
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{
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return lsm6dsl_raw_read(data, reg_addr, value, len);
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}
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static int lsm6dsl_spi_write_data(struct lsm6dsl_data *data, u8_t reg_addr,
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u8_t *value, u8_t len)
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{
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return lsm6dsl_raw_write(data, reg_addr, value, len);
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}
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static int lsm6dsl_spi_read_reg(struct lsm6dsl_data *data, u8_t reg_addr,
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u8_t *value)
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{
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return lsm6dsl_raw_read(data, reg_addr, value, 1);
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}
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static int lsm6dsl_spi_update_reg(struct lsm6dsl_data *data, u8_t reg_addr,
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u8_t mask, u8_t value)
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{
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u8_t tmp_val;
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lsm6dsl_raw_read(data, reg_addr, &tmp_val, 1);
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tmp_val = (tmp_val & ~mask) | (value & mask);
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return lsm6dsl_raw_write(data, reg_addr, &tmp_val, 1);
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}
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static const struct lsm6dsl_transfer_function lsm6dsl_spi_transfer_fn = {
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.read_data = lsm6dsl_spi_read_data,
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.write_data = lsm6dsl_spi_write_data,
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.read_reg = lsm6dsl_spi_read_reg,
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.update_reg = lsm6dsl_spi_update_reg,
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};
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int lsm6dsl_spi_init(struct device *dev)
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{
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struct lsm6dsl_data *data = dev->driver_data;
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data->hw_tf = &lsm6dsl_spi_transfer_fn;
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#if defined(DT_INST_0_ST_LSM6DSL_CS_GPIOS_CONTROLLER)
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/* handle SPI CS thru GPIO if it is the case */
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lsm6dsl_cs_ctrl.gpio_dev = device_get_binding(
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DT_INST_0_ST_LSM6DSL_CS_GPIOS_CONTROLLER);
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if (!lsm6dsl_cs_ctrl.gpio_dev) {
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LOG_ERR("Unable to get GPIO SPI CS device");
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return -ENODEV;
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}
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lsm6dsl_cs_ctrl.gpio_pin = DT_INST_0_ST_LSM6DSL_CS_GPIOS_PIN;
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lsm6dsl_cs_ctrl.delay = 0U;
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lsm6dsl_spi_conf.cs = &lsm6dsl_cs_ctrl;
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LOG_DBG("SPI GPIO CS configured on %s:%u",
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DT_INST_0_ST_LSM6DSL_CS_GPIOS_CONTROLLER,
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DT_INST_0_ST_LSM6DSL_CS_GPIOS_PIN);
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#endif
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return 0;
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}
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#endif /* DT_ST_LSM6DSL_BUS_SPI */
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