Roboter/Code/libraries/RF24-1.3.3/utility/SPIDEV/spi.cpp

/*
 * File:   spi.cpp
 * Author: Purinda Gunasekara <purinda@gmail.com>
 *
 * Created on 24 June 2012, 11:00 AM
 *
 * Patched for exception handling and selectable SPI SPEED by ldiaz 2018.
 *
 * Inspired from spidev test in linux kernel documentation
 * www.kernel.org/doc/Documentation/spi/spidev_test.c
 */

#include "spi.h"

#include <fcntl.h>
#include <linux/spi/spidev.h>
#include <memory.h>
#include <stdio.h>
#include <stdlib.h>
#include <sys/ioctl.h>
#include <unistd.h>

#define RF24_SPIDEV_BITS 8

SPI::SPI():fd(-1), _spi_speed(RF24_SPIDEV_SPEED) {
}

bool spiIsInitialized = 0;

void SPI::begin(int busNo,uint32_t spi_speed){

    if(spiIsInitialized){
       return; 
    }
    
    /* set spidev accordingly to busNo like:
     * busNo = 23 -> /dev/spidev2.3
     *
     * a bit messy but simple
     * */
	char device[] = "/dev/spidev0.0";
	device[11] += (busNo / 10) % 10;
	device[13] += busNo % 10;

	if(this->fd >=0) // check whether spi is already open
	{
		close(this->fd);
		this->fd=-1;
	}

	this->fd = open(device, O_RDWR);
  if (this->fd < 0) throw SPIException("can't open device");
	/*
  {
        perror("can't open device");
        abort();

  }*/
    spiIsInitialized = true;
	init(spi_speed);
}

void SPI::init(uint32_t speed)
{
	uint8_t bits = RF24_SPIDEV_BITS;
	uint8_t mode = 0;

	int ret;
	/*
	 * spi mode
	 */
	ret = ioctl(this->fd, SPI_IOC_WR_MODE, &mode);
	if (ret == -1) throw SPIException("cant set WR spi mode");
	/*{
		perror("can't set spi mode");
		abort();
	}*/

	ret = ioctl(this->fd, SPI_IOC_RD_MODE, &mode);
	if (ret == -1) throw SPIException("can't set RD spi mode");
	/*{
		perror("can't set spi mode");
		abort();
	}*/

	/*
	 * bits per word
	 */
	ret = ioctl(this->fd, SPI_IOC_WR_BITS_PER_WORD, &bits);
	if (ret == -1) throw SPIException("can't set WR bits per word");
	/*{
		perror("can't set bits per word");
		abort();
	}*/

	ret = ioctl(this->fd, SPI_IOC_RD_BITS_PER_WORD, &bits);
	if (ret == -1) throw SPIException("can't set RD bits per word");
	/*{
		perror("can't set bits per word");
		abort();
	}*/
	/*
	 * max speed hz
	 */
	ret = ioctl(this->fd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
	if (ret == -1) throw SPIException("can't WR set max speed hz");
	/*{
		perror("can't set max speed hz");
		abort();
	}*/

	ret = ioctl(this->fd, SPI_IOC_RD_MAX_SPEED_HZ, &speed);
	if (ret == -1) throw SPIException("can't RD set max speed hz");
	/*{
		perror("can't set max speed hz");
		abort();
	}*/
	_spi_speed=speed;
}

uint8_t SPI::transfer(uint8_t tx)
{
	struct spi_ioc_transfer tr;
	memset(&tr, 0, sizeof(tr));
	tr.tx_buf = (unsigned long)&tx;
	uint8_t rx;
	tr.rx_buf = (unsigned long)&rx;
	tr.len = sizeof(tx);
	tr.speed_hz = _spi_speed; //RF24_SPIDEV_SPEED;
	tr.delay_usecs = 0;
	tr.bits_per_word = RF24_SPIDEV_BITS;
	tr.cs_change = 0;

	int ret;
	ret = ioctl(this->fd, SPI_IOC_MESSAGE(1), &tr);
	if (ret < 1) throw SPIException("can't send spi message");
	/*{
		perror("can't send spi message");
		abort();
	}*/

	return rx;
}

void SPI::transfernb(char* tbuf, char* rbuf, uint32_t len)
{
    struct spi_ioc_transfer tr;
    memset(&tr, 0, sizeof(tr));
    tr.tx_buf = (unsigned long)tbuf;
    tr.rx_buf = (unsigned long)rbuf;
    tr.len = len;
    tr.speed_hz = _spi_speed; //RF24_SPIDEV_SPEED;
    tr.delay_usecs = 0;
    tr.bits_per_word = RF24_SPIDEV_BITS;
    tr.cs_change = 0;

	int ret;
	ret = ioctl(this->fd, SPI_IOC_MESSAGE(1), &tr);
	if (ret < 1) throw SPIException("can't send spi message");
	/*{
		perror("can't send spi message");
		abort();
	}*/
}

SPI::~SPI() {
	if (this->fd >= 0) close(this->fd);
}